近年來,隨著自動化的蓬勃發展與普及,機器人產業愈來愈受到重視,更多的工廠使用工業機器人取代來取代傳統人力,其中,新型態的雙臂機器人也被開始應用於工業生產之中。操控系統是直接影響一個機器人系統是否易用的關鍵因素,但透過教導盒的傳統教導過程通常繁瑣且不夠直覺,除了操控人員必須具備專業背景知識,也導致時間成本提高,更遑論使用於結構更加複雜的雙臂機器人,因此本論文針對工業雙臂機器人的特性以及常見應用,提出基於沉浸式虛擬實境技術之操控系統,藉由加入擬真物理特性、手臂模型框架透視等機制提升虛擬實境的回饋感,並提供類人類路徑規劃作為輔助工具,協助規劃與人類姿態相似的可行路徑,以提升系統的易用性與效率。在系統驗證與分析上,乃比較獨立兩組單臂機器人與雙臂機器人的表現,分別在虛擬環境中進行不同類別的工業任務模擬,探討雙臂機器人具有優勢的工業任務;接著討論改良後的虛擬實境介面對於使用者來說是否有輔助操控的效果,以及驗證路徑規劃作為輔助工具是否能有效提高操作效率,並透過問卷了解使用者對所開發之操控系統的感受與易用性。
Along with the progress in automation, the use of industrial robots has become much more popular, including the dual-arm robot manipulator. The manipulation system is the critical factor that directly affects whether a robot system is easy to use. However, traditional task teaching, which involves the use of teaching pendent, is complex and not intuitive. Consequently, the cost in teaching tasks is high and it usually demands experts with proper training to manipulate the robot. Therefore, this thesis proposes a manipulatory system for the industrial dual-arm robot using immersive virtual reality technics. To assist the users during their manipulation, the system displays the outline of the covered arm according to user’s angle of view. Meanwhile, to simplify the teaching process and promote the efficiency, the proposed system provides assistive strategies, including artificial physical characteristics and human-like path planning. Simulations are conducted to demonstrate the effectiveness of the proposed interface, along with the questionnaires to evaluate user’s performance.