本研究主要是設計一水平關節式(SCARA)之機械手臂結合影像識別在工業上應用,主要的影像演算法是利用迴旋積之運算,達到高判別的成效。機械手臂在機構上有六軸自由度,包含水平面上兩旋轉軸旋轉運動及一垂直軸線性運動,構成三維空間坐標系。在機器手臂夾爪部分,包含兩旋轉軸及一線性夾爪。擷取影像裝置固定於工作空間上方,藉由電腦影像之迴旋運算處理來計算之工件位置,再以此計算出六軸相對應之運動。運動指令透過RS232連接至控制器做傳輸至驅動手臂,如此便可完成六軸機械手臂在工業上的應用,本研究結果顯示,在已知環境長1000mm寬700mm高1250mm要求空間中可順利夾取所辯識之色球。
This study is designed a selective compliance assembly robotic arm combination of image recognition application in the industrial, the calculation within convolution is used for high efficiency. This robot have six-axis degree of freedom, contain two axis of rotation in the horizontal plane and a vertical linear movement, these constitute a three-dimensional space coordinate system. On the robot arm gripper, it contain two axis of rotation and a linear gripper. Imaging device is fixed on the top of the workspace, and the position of the workpiece is calculated by the computer image convolution, use the result to calculate the six-axis corresponds to the movement distance. Motion commands sent to the controller through the serial port, so it can complete the six-axis robotic arm in industrial applications. The results show that, the robot can successfully pick up the color ball in the workspace and put it into right place.