摘要
在機器人發展的過程中，隨著科技的進步與感測器的發展，機器人已從過去可以輸入特定的路徑並依程式完成焊接、噴漆、加工、搬運物品等傳統的3D工作框架，逐漸朝向完全取代勞力，具備智能化的方向發展。其中智慧組裝即是不可或缺的進展環節，精密組裝中首重定位精度與裝配公差，現行的自動檢測方法為大量運用攝影機搭配影像處理技術，然此技術受限於處理過程繁複，易受環境光照的影響，成本昂貴，作業區環境精要求高，普及效益低。本研究則利用LabVIEW程式整合二維雷射測距儀與機器人系統，並搭配三維空間孔洞與自動裝配目標特徵的搜尋能力，不僅相對穩定性佳、不受光照環境影響且資料容易處理，可有效完成智慧組裝的任務目標。
並列摘要
In the process of robots development, the robot could be imputed by specific path and followed the program to achieve a particular purpose; therefore, it was widely used to weld, spray, process, and transport object. With the great advancement of technology and the development of sensors, the working role of robot is gradually change from assistance into completely replacement of labor. Intelligent assembly is the indispensable part of this revolutionary change. When assembling, it takes precision very seriously. The old method of assembly, which used camera with image processing technology, not only limited by complicated processing course, but also easily affected by environmental lighting, and the cost is quite expensive as well. This research use laser rangefinder as sensor of robot. The advantage of laser rangefinder is it has relatively stable characteristic under environmental lighting and the data it collects is easy to process. We combine laser rangefinder with object's traits to finish the work of intelligent assembly. Besides, this research utilizes LabVIEW to integrate sensor and the robot control system, and uses robot movement to collocate 2D laser rangefinder to accomplish the purpose of searching 3D holes and automatic assembling.