驅控整合模組機械手臂與機械視覺整合技術開發

Integration of Robot Manipulator with Smart Joints and Machine Vision

蔡銘浩 ； 范姜士嘉 ； 連豊力

《機械工業雜誌》 436期 (2019/07) Pp. 18-26

摘要

為了降低機械手臂電控箱的設計難度與縮小電控箱的佔有體積，將機械手臂每一軸的馬達與驅動器整合成一驅控模組是一項極佳的解決方案。本文討論的驅控模組是採用工業乙太網路通訊協定（EtherCAT）當作模組之間以及與控制器之間的連線。驅控模組化的優點，在於可依不同的應用情境決定模組的數目，並將其組成串連型關節式的機械手臂，以符合實際應用之需求。此外，為了提昇機械手臂的高定位精度與高重複性，本文將另述工研院機器人控制器提昇機械手臂的精度流程。最後，以一個常見的工業應用情境（機械手臂與機械視覺整合），展現驅控整合模組機械手臂的可行性與高精度表現。

關鍵字

驅控整合關節 ； 機械手臂 ； 手眼校正

並列摘要

In order to reduce the design difficulty and the occupied volume of the electric control box of a robot manipulator, one solution is to integrate the motor and the driver of each joint of a robot manipulator into one single integrated joint module (hereinafter referred to as the smart joint). In this article, EtherCAT was adopted as the communication protocol between the smart joints and the robot controller. One advantage of the smart joint is that the number of joint modules could be determined according to different applications and the joint modules could form a serial type articulated robot manipulator to meet application demands. In addition, a process to improve the positioning accuracy and high repeatability of the robot manipulator was discussed in this article. Finally, a common industrial application (the integration of the robot manipulator and machine vision) was used to show the feasibility of the robot manipulator composed of the smart joints.

並列關鍵字

Smart ioint ； Robot manipulator ； Hand-eye calibration