- 學位論文
基於VR/AR技術之工業機械手臂操控系統與輔助策略研發
Development of VR/AR-based Manipulation Systems and Assistive Strategies for Industrial Robot Manipulators
摘要
隨著工業自動化快速的發展，越來越多的機器人導入到自動化生產，但如今的工業生產趨向少量多樣客製化，使得製造作業流程需頻繁的變更，造成機器人的作業任務變為更加複雜。使用傳統的教導盒進行任務教導將過於費時，且無法應付需頻繁變更的作業任務，也因為傳統的操控方式不易學習與簡易使用，因此提升了手臂操縱的門檻，需要專業受過訓練的人才能操作。因此，本研究開發應用於工業機械手臂任務教導的直覺式操控系統，為使訓練環境能更加真實，我們透過VR與AR的技術建構擬真的環境，以提升操作者的擬真感受，並透過實驗與傳統教導系統進行比較分析。
並列摘要
Along with the progress in industrial automation, more robot manipulators are introduced to the factories. As the production orders nowadays may be customized and in small scales, it makes robot tasks become more flexible and complicated. Consequently, using traditional manipulation devices for robot task teaching may be too time-consuming, even unsuitable in dealing with flexible manufacturing. It is thus imperative to develop a simple and intuitive manipulation system for robot task teaching. Meanwhile, to provide a realistic sense for the operator during task teaching and training, we adopt VR and AR to create an emulated environment for the real workspace. Experiments are executed to demonstrate the feasibility and effectiveness of the proposed manipulation system, with its performance compared to conventional manipulative devices.