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  • 學位論文

結合虛擬實境與真實環境之即時機械手臂操控介面開發

Development of Real-time Manipulatory Interface for Industrial Robot Manipulators via Integrating Virtual Reality and Real Environments

指導教授 : 楊谷洋

摘要


隨著工業自動化蓬勃發展,工業機械手臂廣泛應用於工廠中,因此開發直覺有效率的機械手臂操控系統成為重要的課題。近年來開始有學者以虛擬實境技術開發人性化的操控介面,然而虛擬實境與真實環境之間的互動能力薄弱,使其在應用的場域受到許多限制,也是虛擬實境面臨的挑戰之一。因此本論文針對工業機械手臂,提出以沉浸式虛擬實境結合真實環境之操控系統,即利用深度攝影機以即時三維重建技術將真實環境的點雲模型帶入虛擬實境中,提供虛擬實境系統與真實環境進行互動的可能性。另外也應用深度攝影機提供的影像資料偵測工作平台上的物件位置,並根據機械手臂末端點與物件之間的距離調整使用者操作意圖權重,使操控更容易上手,也更能確保安全性。在實驗驗證上,乃以模擬組裝實驗討論點雲建模與事前建模的差別,以及透過調整意圖權重是否有效輔助操作過程,並以問卷了解使用者對所開發之介面的感受與易用性。

並列摘要


Along with the progress in industrial automation, industrial robot manipulators are widely used in factories. The development of intuitive and efficient manipulatory interface for industrial robot manipulators has thus become an important issue. In recent years, some researchers have begun to develop user-friendly manipulatory interfaces with virtual reality. However, the weak interaction between virtual reality and real environment makes it subject to many restrictions in applications, and as one of the main challenges faced by virtual reality. Therefore, this thesis proposes a manipulatory interface for industrial robot manipulators via integrating virtual reality and real environments. The proposed interface uses the depth camera to build a point cloud model of the real environment, and integrates it into the virtual environment of the VR system via 3D reconstruction. This work provide the possibility of a virtual reality system interacting with the real environment. Furthermore, the image data provided by the depth camera is also used to detect the position of the object on the working platform. According to the distance between the end-effector and object, user's motion intention is evaluated accordingly, so that the manipulation is easier to handle and the safety is ensured. Experiments are performed to demonstrate the difference between point cloud modeling and pre-modeling and whether the intention evaluation is effective to assist task execution. We also conduct questionnaires to investigate user performance, which may help us to improve the system in the future.

參考文獻


[1]RIA, "Robotics Online," Industrial Robot Automation, [Online]. Available: https://www.robotics.org/.
[2]International Federation of Robotics, "Robots double worldwide by 2020," 2018. [Online]. Available: https://ifr.org/ifr-press-releases/news/robots-double-worldwide-by-2020.
[3]G. C. Burdea, "Invited Review : The Synergy Between," IEEE Transactions on Robotics and Automation, vol. 15, no. 3, p. 400~410, 1999.
[4]G. C. Burdea, P. Coiffet, Virtual Reality Technology, Second ed., A John Wiley & Sons, Inc, 2003.
[5]Wikipedia, "Virtual Reality - Wikipedia," [Online]. Available: https://en.wikipedia.org/wiki/Virtual_reality.

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