基於ROS2開發之AMR結合機械手臂系統於智慧工廠之應用

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姓名

謝欣哲(Hsieh, Hsin-Che) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

基於ROS2開發之AMR結合機械手臂系統於智慧工廠之應用
(Application of a ROS2-Based AMR and Robotic Arm System in Smart Factories)

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至系統瀏覽論文 (2029-7-1以後開放)

摘要(中)

本論文整合智慧工廠中的自主移動機器人（AMR）與機械手臂系統，應對工廠自動化挑戰，搭配光學雷達(LiDAR)，利用SLAM建構出工廠地圖，並使用AMCL來實現機器人在地圖中的自主定位，ROS2和Navigation2架構建立了一個完整的AMR導航系統，實現AMR在智慧工廠中的路徑規劃和避障功能。由於AMR重複精度問題會影響機械手臂取物精準度，因此機械手臂結合深度攝影機和AprilTag定位技術，取得標記姿態後，進行座標轉換到機械手臂座標系，達到約±0.1 mm的精準定位，實現自動化試片取放料。此外導入5G企業專網及資料分散式服務（DDS），確保系統內資訊的高效流通和機台及機器人的自主運作。
本研究旨在提升AMR在智慧製造中的效能和應用價值，推動製造業的智慧化發展。

摘要(英)

This thesis integrates autonomous mobile robots (AMR) and robotic arm systems within a smart factory to address automation challenges. Using LiDAR for mapping and AMCL for autonomous localization, a complete AMR navigation system is developed based on the ROS2 and Navigation2 frameworks, enabling path planning and obstacle avoidance within the smart factory. To counteract the impact of AMR′s repeatability accuracy on the robotic arm′s precision in object handling, the robotic arm is combined with a depth camera and AprilTag positioning technology. This integration achieves approximately ±0.1 mm precision by converting the tag′s position to the robotic arm′s coordinate system. Additionally, the implementation of a 5G private network and Data Distribution Service (DDS) ensures efficient information flow and autonomous operation of machinery and robots.
This research aims to enhance the performance and application value of AMRs in smart manufacturing, promoting the advancement of intelligent manufacturing in the industry.

關鍵字(中)

★ 自主移動機器人
★ 機械手臂
★ 機器人作業系統2
★ 智慧工廠
★ 工廠自動化
★ 同時定位與地圖構建

關鍵字(英)

★ AMR
★ Robots
★ ROS2
★ Smart Factory
★ Factory Automation
★ SLAM

論文目次

摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 XI
一、緒論 1
1-1 研究動機與目的 1
1-1-1 研究動機 1
1-1-2 解決方案 3
1-1-3 期望成果 4
1-2 文獻回顧 5
1-3 論文架構 8
二、智慧工廠系統與架構 9
2-1 智慧工廠概述 9
2-1-1 智慧工廠中的5G通訊技術 9
2-1-2 通訊架構 10
2-1-3 AMR與機械手臂的應用 11
2-2 ROS2架構 12
2-2-1 ROS2主要組成 14
2-2-2 ROS2 可視化工具 16
2-3 系統架構 17
2-3-1 ROS2在系統開發中之應用 18
2-4 研究設備 19
三、研究方法與技術 26
3-1 AMR與機械手臂關鍵技術 26
3-1-1 同步定位與地圖構建 26
3-1-2 自適應蒙地卡羅定位法 29
3-1-3 AMR導航 31
3-1-4 機械手臂定位 48
3-2 研究流程 56
3-2-1 AMR導航與測試 57
3-2-2 機械手臂之AprilTag定位 63
3-2-3 定位驗證 69
四、研究結果與討論 74
4-1 研究結果 74
4-2 AprilTag 定位結果 79
五、結論與未來展望 85
5-1 結論 85
5-2 未來展望 86
六、參考文獻 88

參考文獻

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指導教授

董必正(Tung, Pi-Cheng)

審核日期

2024-7-19

推文