基於虛擬導引之多軸機器人操控器

A Manipulation System Based on Virtual Fixtures for Multi-Axis Manipulators

詹明勳(Ming-Shiun Jan)

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(2010年)

https://doi.org/10.6842/NCTU.2010.00290

摘要

由於多軸機器人的發展，傳統的機器人操控器已無法應付日益複雜的工作，理想的人機介面不只讓操作者更有效率地對機器人進行操作，也幫助操作者快速了解操控器與被操控對象之間的關係。本論文的目的在於設計出直覺式虛擬機器人操控器來控制多軸機器人。另外
，我們也發展出即時的方向性力導引機制，在三維空間中能即時依照操作者需求提供適當的力輔助策略。軌跡記錄機制能有效重複使用先前的軌跡。實驗結果顯示我們所開發的機器人操控器能有效的完成複雜性任務，在加入力輔助後能更有效地提高任務執行效率以及穩定性。

關鍵字

虛擬實境 ； 虛擬導引 ； 力回饋搖桿 ； 多軸機器人

並列摘要

Due to fast development in multi-axis manipulators, traditional manipulative devices are unable to cope with tasks with increasing complexity. An ideal human robot interface (HRI) not only provides better manipulation, but also helps the operator to comprehend the relation between manipulative device and manipulator. The aim of this thesis is to develop an intuitive virtual robot manipulative device. We also develop a real-time force-assistant mechanism to provide suitable force-assistant strategies according to operator’s needs immediately in three-dimensional space. The trajectory recording mechanism can record trajectory and reuse it. The experimental results show that the manipulative device we develop can execute complex tasks effectively, and the force-assistant mechanism enlarge system efficiency and stability.

並列關鍵字

virtual reality ； virtual fixtures ； force-feedback joystick ； multi-axis manipulator

參考文獻

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