基於影像之機械手臂繪圖系統實現

Implementation of Picture-Based Robot Manipulator Drafting System

陳威宇(Wei-Yu Chen)

指導教授 ： 許駿飛

淡江大學/工學院/電機工程學系碩士班/碩士(2016年)

https://doi.org/10.6846/TKU.2016.00946

摘要

在1980 年代開始，機械手臂已成功的應用於汽車產業與製造業等產業，
主要負責如危險之組裝、噴漆、焊接、高溫鑄鍛等繁重工作，皆能以機械手
臂取代人工作業，如此不僅能更安全的完成任務之外，也能達到更高的工作
效率。本論文所選用的機械手臂類型為並聯式機械手臂，透過德州儀器公司
所生產的TM4C123GXL LaunchPad 實驗版來設計一個機械手臂繪圖系統，其
中包含逆運動學、馬達轉動控制以及OpenCV 影像處理。首先為了驗證所設
計開發並聯式機械手臂之可行性，使用TCS3200 顏色感測器來判斷六顆色
球，判斷完後再做分類的動作，藉此驗證整個機械手臂系統之定位控制與移
動控制之準確性。接者，透過Canny 邊緣側算法計算出所讀取圖片的邊緣，
將其結果規畫出一個繪圖路徑並且繪畫出來，經由實際的實驗結果可以發現
所設計的機械手臂繪圖系統可以獲得良好的繪圖成效外，而且不需花費大量
的人工與時間，基於實驗結果可以發現所提出之機械手臂繪圖系統具有便
宜、快速與簡易操作等優點。

關鍵字

繪圖系統 ； 並聯式機械手臂 ； 逆運動學 ； 邊緣側算法 ； TM4C123GXL 實驗版

並列摘要

Since 1980s, the automotive industry has adopted the robotic arm significantly for a
series of complicated and dangerous procedure, such as spray painting, welding or
casting. By introducing the robotic arm in these years, labor resources can be substituted
owing to the safety and the efficiency. This thesis selects a delta style of robotic arm and
uses a TM4C123GXL LaunchPad which is produced by Texas Instrument to design the
drawing system. The proposed drawing system includes inverse kinematics, motor
position control and image processing via OpenCV. To show the feasibility of the
developed delta robotic arm, two scenarios are considered. One is the color balls classifier and the other one is the image drawing. In the first scenario, this thesis uses a TCS3200
color sensor to identify color balls and classify the balls by the robotic arm. Further, the
edge features in the image can be obtained by using canny algorithm based on OpenCV
approach in the second scenario. The routing path is calculated and the robotic arm
completes the drawing process. The detailed contributions of this thesis are listed as
follows: (1) the drawing system executes more efficiently compared to previous works.
(2) The drawing system can save enormous labor resources and time by executing
automatically. (3) The drawing system provides the results with high integrity.

並列關鍵字

drawing system ； delta robot arm ； inverse kinematics ； canny algorithm ； TM4C123GXL launchpad

參考文獻

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