機械手臂虛擬實境系統之開發與研究

工業自動化，重複性高的加工動作與搬運逐漸利用工業機械手臂替代人力，因此工業機械手臂在生產線占了一席之地，其使用與操作複雜，為了讓作業人員能有效的學習機械手臂的操作，本研究將六軸機器手臂之正向與逆向運動、機械手臂的關節座標系、直角座標系以及圓弧補插路徑做為研究方法，搭配Unity3D平台研發系統，將機械手臂之正向運動及逆向運動的旋轉角度公式以C#程式編譯成一套教學系統，搭配HTC VIVE設備，以沉浸式虛擬實境打破以往單向的影片教學，避免因現場工程師時間有限而無法進行完整的機械手臂操作教學，建置工業六軸機械手臂的虛擬訓練環境，利用多方位的視角以及互動系統，訓練員工對於機械手臂面板的操作，讓訓練人員產生如置身在生產線上的臨場感，能夠讓受訓者在安全的環境條件下，排除學習時間以及地點的限制，並且減少人員在訓練過程中因操作不當而產生的各項碰撞或損壞成本，將受訓者的訓練效益提升至最大，同時為公司縮減員工訓練時間的無形成本。

關鍵字

六軸機械手臂；正向運動；逆向運動；圓弧補插路徑；虛擬實境

並列摘要

Industrial automation, highly repetitive processing actions and handling gradually use industrial robotic arms to replace manpower, so industrial robotic arms occupy a place on the production line, and their use and operation are complex. To allow operators to effectively learn the operation of robotic arms, this research will study the forward and reverse movements of the six-axis robotic arm, and study the robotic arm's joint coordinate system, right-angle coordinate system, and circular interpolation path. Using the Unity3D platform to develope system, the forward motion and the formula of the rotation angle of the inverse motion is written in C # programming language as a teaching system, with HTC VIVE equipment, to break the previous one-way video teaching with immersive virtual reality, avoiding the inability to conduct complete robotic arm teaching due to the limited time of field engineers. , set up a virtual training environment for industrial six-axis robotic arms, use multi-dimensional perspectives and interactive systems to train employees on the operation of robotic arm panels, so that trainers have a sense of presence like being on the production line, allowing trainees to be safe environmental conditions, exclude study time and location restriction, and reduce the impact on personnel training process due to improper operation or damage resulting from cost, will train up to the maximum benefit of trainees, as well as the company reduced intangible costs of employee training time.