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系統識別號 U0026-1808201715003000
論文名稱(中文) 機械臂視覺導引避障與即時取放任務規劃
論文名稱(英文) Vision Based Obstacle Avoidance and Real Time Task Management for Robots
校院名稱 成功大學
系所名稱(中) 航空太空工程學系
系所名稱(英) Department of Aeronautics & Astronautics
學年度 105
學期 2
出版年 106
研究生(中文) 邱睿綦
研究生(英文) Ruei-Ci Ciou
學號 p46044304
學位類別 碩士
語文別 中文
論文頁數 56頁
口試委員 指導教授-陳介力
口試委員-彭兆仲
口試委員-劉建宏
口試委員-楊錫凱
口試委員-林志哲
中文關鍵字 影像系統  物件偵測  物件辨識  障礙物偵測  避障運動規劃 
英文關鍵字 image system  object detection  object recognition  obstacle detection  obstacle avoidance motion planning 
學科別分類
中文摘要 本論文開發一套以三維影像資訊結合工業機械手臂之自動作業目標物選定與即時避障系統,藉由三維影像系統偵測物件資訊選定目標物件,並以物件表面法向量計算手臂運動中繼點與姿態,使機械手臂可成功完成作業任務。而當影像系統偵測出障礙物時,則藉由機械手臂與障礙物相對位置,決定機械手臂的閃避方向與閃避位移量,並基於順逆向運動學與機構特性簡化計算量提供即時閃避作動路徑,有效維持10Hz之即時運算作動能力。
本研究以上銀六軸機械手臂完成實機驗證三維影像物件偵測與機械臂即時避障作動路徑實現與控制性能。論文提出之方法可使機械臂成功閃避2m/s速度之動態障礙物,並達成疊合多物件取放任務。研究成果有助於智慧化視覺互動機械臂系統之實現與人機協同之彈性生產製造環境建構。
英文摘要 A Real-time obstacle avoidance robotic system using 3D visual guidance is proposed in this study. Targets information are detected by 3D image system for object recognition and positioning. A task motion relay point in the object surface normal direction is introduced to achieve the mission of pick and place. When an obstacle is detected, the relative position and distance of the arm to the obstacle is firstly determined by the 3D vision system. Subsequently, the obstacle avoiding motion planning is carried out according to kinematic relation intuitively. The updating performance of the proposed system is 10Hz.
An integrated 3D objects detection and real-time obstacle avoidance motion planning system proposed is implemented in associated with HIWIN RA605 six-axis robot to demonstrate and verify the real time performance of the system.
論文目次 中文摘要I
ABSTRACTII
誌謝X
目錄XI
表目錄XIV
圖目錄XV
第一章 緒論1
1.1前言1
1.2文獻回顧1
1.3本文架構3
第二章物件位置偵測與迫近目標之中繼點計算4
2.1三維視覺感測系統介紹4
2.2彩色影像處理與物件偵測6
2.2.1物件位置偵測6
2.2.2輪廓偵測8
2.2.3物件影像質心計算11
2.3路徑中繼點計算13
第三章障礙物偵測與判定17
3.1深度影像擷取17
3.2障礙物偵測熱區18
3.3深度影像處理20
3.3.1影像前處理20
3.3.2障礙物偵測與最小外接矩形(Bounding Box)偵測20
3.3.3影像偵測平面深度最近點21
3.4機械臂自身影像濾除22
第四章避障策略規劃26
4.1機械手臂簡化概念26
4.2靜態障礙物避障路徑規劃27
4.2.1靜態避障策略-上方跨越避障27
4.2.2靜態避障策略-側向繞越避障32
4.3動態障礙物避障策略規劃33
第五章實驗與結果討論37
5.1實驗系統介紹37
5.2影像空間與實驗環境空間轉換與校正39
5.3手臂夾爪控制與測試43
5.4靜態障礙物環境避障實驗45
5.5夾取與置放任務派遣48
5.6動態障礙物環境避障51
第六章結論與未來展望53
6.1結論53
6.2未來展望54
參考文獻55


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