摘要
隨著現代自動化與人工智慧技術的提升，機器人的應用逐漸從工業界，擴展到娛樂及服務業。機器人由原本只會從事高重複性的自動化工具，轉變成具智慧及學習能力的整合式系統。近年來娛樂型機器人蓬勃發展，其中音樂型機器人更是受到重視。本實驗室研究音樂型機器人多年，從早期的XY 型小提琴演奏機器人開始，慢慢發展到利用六軸機器人演奏大提琴。由於以往的結構臂長不足，容易出現奇異點；按弦機構過於複雜，準確度及壓力不足；缺少音色和音量的控制，演奏效果不佳。因此，本研究旨在改進過去的大提琴演奏機器人結構及控制系統，提升其演奏效果。本研究首先採用臂長較長的機器手臂，改善因第四與第六軸共線而出現奇異點的問題。再利用影像追蹤技術，校正和改善手臂的運動軌跡。在音準及音色方面，透過強化手指結構設計，達到較為良好的按弦控制，同時增加揉弦以及音量大小的控制，提升音品音質。為了呈現研究的成果，本研究採用改編的樂曲「浮光掠影」做為案例，確保能模擬人類演奏時的效果。
並列摘要
With the improvement of modern automation and artificial intelligence technology, the application of robots has extended from the industry to the entertainment and services. Robots have changed from a single task with high repetitiveness to an integrated system with intelligent automation and learning capabilities. In recent years, entertainment robots have flourished, and music robots have received more attention. Our laboratory has devoted to develop the musical robots for many years. Starting with a two-axes x-y violin playing robot, the research slowly developed to use a six-axis robot to play the cello. Based on the result of the past research, we found that the robot is too short, which forced the fourth and sixth axes became collinear when the arm is playing, and resulted in singularities of the motion control. We also found that there were too many fingers used to press the strings. Not only the control is complicated, but the mechanism often suffers from insufficient string-pressing accuracy and pressure. Moreover, the tones and timbre adjustments need to be more refined. Therefore, this research aims to improve the structure and system of the cello playing robot. An improved design is proposed to enhance the performance. In order to improve the problem of insufficient arm length, this study used a larger robot with a longer arm to improve the problem of singularity. This research also uses image tracking technology to correct and improve the robot’s trajectory. The improvement in pitch, by strengthening the finger structure design, achieves a better control of the force and intensity of the string pressing. In this study, we also added stringing and volume control to improve sound quality. In order to present the results of the research, a song named of "Floating Light and Glimpse" adapted from a well-known movie was used as a demonstration.