針對工業機械手臂之三維擴增實境操控系統開發

Development of a 3D AR-Based Interface for Industrial Robot Manipulators

陳群詠(Chun-Yun Chen)

指導教授 ： 楊谷洋

國立交通大學/電機學院/電機與控制工程系所/碩士(2018年)

摘要

近年來，隨著工業4.0的蓬勃發展，以及產線自動化的需求，機器人產業越來越受到大家的重視，許多工廠也引進工業機械手臂來取代人力。傳統教導盒因為編程時間過長，導致時間成本提高；也因為操縱系統不夠直覺，拉高了操縱的門檻，需要受過訓練的人來操作。因此，本論文針對工業機械手臂，並評估實驗室以往所開發的操控介面，利用擴增實境在平板上開發一款直覺式操控系統。此系統結合無線控制器與定位器，實現在三維空間中操縱機械手臂，並結合擴增實境的虛實整合特性，具安全性與直覺性。在此同時，也賦予此系統可攜性，亦即沒有機械手臂在現場時，也能進行離線模擬訓練，大幅降低訓練成本與時間。在實驗驗證上，會比較所開發之介面與實驗室之前所開發之操控介面在二維與三維空間中的操縱效率以及精準度，以及擴增實境與虛擬實境之間的差別，並且透過問卷的形式了解使用者對所開發之介面的感受與易用性。

關鍵字

機械手臂 ； 擴增實境 ； 人機介面 ； 操作系統 ； 三維 ； 平板

並列摘要

Along with the progress in automation and Industrie 4.0, the use of industrial robots has become much more popular. The traditional teaching pendant is time-consuming and not intuitive enough. Consequantly, the cost in teaching complicated tasks is high and it needs experts with proper training to manipulate the robot. Thus, this thesis aims to develop an intuitive manipulatory interface to simplify the teaching process. We use tablet PC as our platform and propose a wireless 3D manipulatory interface based on augmented reality. The system allows users to view a virtual robot through tablet PC and use the wireless controller to manipulate the robot in the 3D space. In addition, we also let our system be portable for offline training, i.e., the training procedure can be conducted at any place without a real robot. This much reduces the cost of training. Experiments are conducted to demonstrate the effectiveness of proposed system, with its performance compared with other manipulatory interfaces developed in our laboratory previously. We also conduct questionnaires to evaluate user performance, which may help us to improve the system in the future.

並列關鍵字

Robot ； Manipulator ； Augmented Reality ； HMI ； Tablet PC ； 3D

參考文獻

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