多自由度鋼索懸吊機器人之影像辨識與控制

鋼索懸吊機器人是一種類似於鋼性平行桿機構的作業平台，主要由多組馬達驅動鋼索以達到平台多自由度的運動。使用撓性的鋼索來代替剛性的平行連桿，可應用於高負載但不需高精密度之作業環境，改變作業空間的限制。相對於剛性平行連桿機構，具有較大的作業空間、較輕之機械本體、較廣的操作視野與較低耗能等優點。　　本研究將以建置鋼索懸吊平台及控制平台移動當作基礎架構，並採用順向及逆向運動學來建置移動平台，再使用LabVIEW圖控軟體建置人機介面(HMI，Human-Machine Interaction)，將轉換之方程式應用於LabVIEW圖控軟體撰寫程式，做為馬達與平台位置空間轉換系統，讓平台在作業空間中的X軸與Y軸方向移動，及各別旋轉軸(Rotation axis)做角度的轉換以及Z軸方向移動。本研究系統整合了LabVIEW與Arduino控制板，分別控制陀螺儀感測器、薄膜電位計及步進馬達，並在平台下方裝設尾端制動器夾取物品。再運用LabVIEW圖控軟體中的Vision and Motion軟體，再搭配影像處理方法與機械視覺，將截取的影像進行分析，並分離目標物體影像與背景影像，藉此影像比對找尋目標物，系統能即時鎖定目標物進行追蹤和錄影，並帶入位置空間轉換系統，使尾端至動器能自動的追蹤目標並進行夾取。

關鍵字

鋼索懸吊機器人；影像辨識；作業空間；尾端制動器

並列摘要

A cable-suspended robot (CSR) is a special parallel manipulator in which the mobile platform is driven by cables, instead of rigid links. The main advantages of CSRs over conventional robots are: reachable workspace, low mass, low visual intrusion, and low power consumption, etc. 　　The Infrastructure of this thesis are concentrated on the test-bed implementation and set up control environment for CSRs, especially for pick-and-place function. By using LabVIEW software package to build Human-Machine Interface (HMI) control environment, the multi degrees-of-freedom motion can be achieved. The pose of the end-effector is solved by forward and inverse kinematics, In addition used NI LabVIEW Vision and Motion software on PC-based platform, intercept the images and process the images , compare this image with this original image and look for the goal object, the system can lock the goal object ,tracking object and recording the video at the same time.