- 期刊
SmithOS：機器人單元的核心軟體
SmithOS: the Holonic Software of Robotic Workcell
摘要
近年製造業客製化與少量多樣的需求日益增長，複雜性與彈性是未來製造業的關鍵特點，傳統自動化系統固有的軟硬體透過規模化與標準化來降低生產成本並提升效率，然其顯而易見的限制亦是無法適應快速變化且小批量的訂單。先進製造自動化系統中，產業期望達到每單件產品的生產成本與其生產數量關聯最小化，因此工業型機器人以彈性化的優點廣泛應用在噴漆、焊接、組裝、搬運與研磨拋光中。在HMS（Holonic Manufacturing System）系統架構中，每一個Holon單元具獨立性與協作性，單元可獨立決策、控制與規劃，彼此間亦可互相轉換、溝通與儲存訊息。SmithOS為一套適用於工業機器人單元的核心控制軟體，具備生產工單介面、製程參數調整介面、機器人通訊控制層（Robot Communication Layer, RCL）、感測器通訊層（Hardware Abstraction Layer, HAL）與多執行緒運行功能，其豐富的功能模塊（function block）與資訊流程圖架構（flow chart），提供系統整合商快速整合PLC通訊、力量感測器、雷射感測器與2D／3D視覺感測器的功能，以解決製造業常遇到的工件變異、快速換線需求與操作介面複雜等問題。此系統讓操作員不必再擔心產品換線的耗時耗心力，進料視覺辨識可達成自動換線；其製程參數調整介面提供操作者在不使用機器人複雜的示教器下，就能完成製程參數的調整；而系統性的誤差與變異（如：工件變異與設備定位誤差），可線上透過感測器即時回饋補償，維持生產品質的穩定性。
並列摘要
In recent years, the demand for product customization and small-batch production has been increasing in the industrial market. Both complexity and flexibility are considered as the key features of the future manufacturing industries. Through scale production and manufacturing standardization, the existing software and hardware of traditional automation systems do have the capacity to improve manufacturing efficiency and reduce production costs. However, the obvious limitation is that they are not able to adapt to rapid-changing and small-batch orders. In the area of advanced manufacturing automation systems, the production cost of each single product is supposed to be minimized as much as possible compared with its production quantity. Therefore, with the advantages of flexibility, industrial robots are widely used in painting, welding, assembly, palletizing, grinding and polishing. In Holonic Manufacturing System (HMS) architecture, each Holon unit is independent and collaborative, and the units have the capability to make decisions, control and plan independently, as well as to convert, communicate and store information with each other. SmithOS, a core control software for industrial robotic unit, was developed to optimize robotic automation. The software is provided with the production work order interface, process parameter adjustment interface, Robot Communication Layer (RCL), Hardware Abstraction Layer (HAL), and multi-threaded operation functions [3]. The rich function blocks and information flow chart structure of SmithOS can provide system integrators with the functions of quickly integrating PLC communication, force sensors, laser sensors, and 2D/3D vision sensors, so as to solve the frequently encountered problems in manufacturing industries, such as workpiece variation, rapid manufacturing changeover, and complex operation interfaces.