針對3C產線自動化之工業機器人行動式操控系統開發

隨著機器人產業的發達，工廠也導入更多機器來進行自動化量產。然而，在現行3C工廠產線生產中，在最後包裝部分還是很仰賴人工。若是導入工業機器手臂協助生產，除了可以增加公司產能外，也能減少公安意外的發生。為了在產線導入機器手臂，高效率的操縱系統相當重要，而傳統的教導盒在使用上需要編寫程式，也不是所有的產線工程師都有這方面的經驗，加上教導盒與操縱器是靠實體線路連接在一起，使用時需要注意周遭環境是否會影響產線工程師。本論文致力於操縱器的開發，使用Android平台的操縱器來操作工業機器手臂，並設計圖繪式人機介面於平台上提供輔助及教導功能的使用。操縱器也使用無線網路與控制電腦連線，無須實體線路連接。最後，架設了類似工廠產線的工作環境與傳統指導盒進行比較，據以進行實驗以驗證所開發系統之有效性。

關鍵字

自動化之工業機器人

並列摘要

Along with fast development in robot technologies, more robots have been introduced to execute automated manufacture. However, final packing in current 3C factory production still much depends on human workers. For applying industrial robots manipulators for manufacturing, we need to develop an efficient manipulation system. The uses of the traditional teach pendant demands experience in writing programs. While, it is connected to the controller via physical lines and possibly induces collisions with the surrounding environment. For these reasons, we develop a human-robot interface based on Android platform, and design it to be user-friendly. The research topics involved include task teaching, virtual graphic environment building, and communication between the interface and robot controller, connected by Wi-Fi. Experiments conducted in an environment similar to the real factory demonstrate the feasibility of the proposed system.

並列關鍵字

Mobile Manipulation System for Industrial Robot

參考文獻

[18] 段彥安, 基於多軸機器人之虛擬操控系統, 國立交通大學電控所論文, 2009.

[19] 詹明勳, 基於虛擬導引之多軸機器人操控器, 國立交通大學電控所論文, 2010.

[22] 莊順盛, 結合視覺之人機協同系統研發, 國立交通大學國立交通大學電控所論文, 2013.

[1] D. Chang, G. M. Gu, and J. Kim, “Design of a Novel Tremor Suppression Device Using a Linear Delta Manipulator for Micromanipulation,” IEEE International Conference on Intelligent Robots and Systems, pp. 413-418, 2013.

[3] C. C. Kemp, A. Edsinger, and E. Torres-Jara, “Challenges for Robot Manipulation in Human Environments,” IEEE Robotics and Automation Magazine, Vol. 14, No. 1, pp. 20-29, 2007.

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針對3C產線自動化之工業機器人行動式操控系統開發

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