臺灣博碩士論文加值系統

現今隨著機器人技術的進步，機器人在各行各業中的應用日益普及，並逐漸取代人力。協作型機械手臂與人的合作逐漸被推廣，業界致力於降低操作門檻，例如結合AR技術發展隔空教導的技術以及使用VR進行更快速的路徑規劃與編程。現今機械手臂不再是自動化工廠所專用的設備，在不同的應用場景中，能夠實現多種不同的功能和任務。日本提出使用VR遠程存在的概念，使用VR的操作機械手臂方式打造更易操控，與更安全的操控方式。而3D攝影技術在不同領域有著廣泛的應用，例如機器人、虛擬現實、遊戲、建築和文化遺產保護等。未來隨著技術的不斷進步和發展，3D攝影技術將會變得更加精確和普及。本論文將運用3D攝影機結合VR操作協作型機械手臂，透過3D攝影與VR的技術使機械手臂操作更加簡單及多元化。
本論文將使用協作型六軸機械手臂與VR虛擬實境結合3D攝影機執行積木形狀的辨識並且將其分類，本實驗分為三個部分：首先是建立一個提供互動環境和發送控制訊號的虛擬實境，其次是使用機械手臂控制系統接收虛擬實境發送的控制訊號以及3D攝影機之影像辨識系統分析將其轉換為命令，最後是將這些命令傳送給機械手臂。
本論文所研究的系統架設了機械手臂控制端伺服器並且在虛擬世界建立操作之模擬工作站，讓使用者能戴上VR裝置透過虛擬世界之模擬工作空間安全的遠程操作機械手臂做出相對應的動作，方便使用者能夠快速規劃或更改機械手臂之動作。機械手臂進行動作之移動路徑也會顯示在操作介面上並儲存，方便使用者能記錄與做機械手臂之動作細部調整。

Nowadays, with the advancement of robot technology, the application of robots in various industries is becoming more and more popular, and they are gradually replacing human labor. The cooperation between collaborative robotic arms and humans is gradually being promoted, and the industry is committed to lowering the operating threshold, such as combining AR technology to develop space-based teaching technology and using VR for faster path planning and programming. Today's robotic arm is no longer a dedicated device for automated factories. It can perform many different functions and tasks in different application scenarios. Japan proposes the concept of remote presence using VR, and uses VR to operate a robotic arm to create an easier and safer control method. 3D photography technology has a wide range of applications in different fields, such as robotics, virtual reality, games, architecture and cultural heritage protection. With the continuous advancement and development of technology in the future, 3D photography technology will become more accurate and popular. This thesis will use a 3D camera combined with VR to operate a cooperative robotic arm. Through 3D photography and VR technology, the operation of the robotic arm will be simpler and more diversified.
This thesis will use a collaborative six-axis robot arm and a VR virtual reality combined with a 3D camera to recognize the shape of building blocks and classify them. This experiment is divided into three parts: the first is to establish a virtual reality that provides an interactive environment and sends control signals Next, use the robot arm control system to receive the control signals sent by the virtual reality and analyze the image recognition system of the 3D camera to convert them into commands, and finally send these commands to the robot arm.
The system studied in this thesis sets up the robot arm control terminal server and establishes the operation simulation workstation in the virtual world, so that the user can wear the VR device and safely remotely operate the robot arm through the simulated workspace of the virtual world to make corresponding actions. Action, so that the user can quickly plan or change the action of the robot arm. The movement path of the robot arm will also be displayed and stored on the operation interface, so that the user can record and make detailed adjustments to the movement of the robot arm.

摘要.....................................................................................................................................i
Abstract...............................................................................................................................ii
誌謝...................................................................................................................................iv
目錄....................................................................................................................................v
表目錄..............................................................................................................................vii
圖目錄.............................................................................................................................viii
第一章 緒論................................................................................................................1
1.1 研究背景與動機....................................................................................................1
1.2 研究範圍與限制....................................................................................................1
1.3 文獻探討................................................................................................................2
虛擬實境(Virtual Reality)..........................................................................2
機械手臂與虛擬實境的應用....................................................................6
3D 攝影機結合機械手臂的應用 ..............................................................8
1.4 論文架構................................................................................................................9
第二章 系統架構......................................................................................................10
2.1 硬體之系統架構....................................................................................................10
2.2 硬體系統之介紹....................................................................................................10
2.2.1 TM5-900 機械手臂 .....................................................................................10
2.2.2 頭戴式 VR 裝置............................................................................................12
2.2.3 XEG-32 電動夾爪.......................................................................................12
2.2.4 3D 攝影機 ................................................................................................13
2.2.5 3D 列印機 ................................................................................................14
2.3 軟體系統之介紹..................................................................................................14
2.3.1 虛擬實境引擎介紹與 Unity Engine[16].................................................15
2.3.2 VR 控制插件應用程式與相關協定........................................................16
2.3.3 Socket 網路插座之通訊技術 ..................................................................17
2.3.4 OVR Toolkit [21]......................................................................................17
2.3.5 3D CAD 系統軟體 Onshape [22]...........................................................18
2.3.6 3D 攝影機影像辨識系統與機械手臂控制系統 ....................................18
第三章 研究方法......................................................................................................20
3.1 機械手臂工作平台..............................................................................................20
3.2 積木模型分類盒與底座設計..............................................................................20
3.3 機械手臂控制箱之設置......................................................................................22
3.4 虛擬實境場景之架設..........................................................................................23
vi
3.4.1 SteamVR Plugin 2.0 插件導入 Unity......................................................23
3.4.2 機械手臂與積木模型導入......................................................................24
3.4.3 設定物件模型之屬性..............................................................................25
3.4.4 機械手臂控制指令設定..........................................................................28
3.5 機械手臂控制系統..............................................................................................29
3.5.1 機械手臂控制、夾爪控制與通訊模組..................................................30
3.5.2 座標轉換..................................................................................................31
3.5.3 虛擬實境空間定位與碰撞範圍偵測......................................................32
3.5.4 執行動作與座標紀錄介面......................................................................33
3.5.5 3D 攝影機影像辨識系統 ........................................................................34
第四章 實驗成果與測試..........................................................................................38
4.1 裝置連線..............................................................................................................39
4.2 操作流程..............................................................................................................42
4.3 積木形狀分類......................................................................................................43
4.3.1 正方形......................................................................................................46
4.3.2 圓形..........................................................................................................47
4.3.3 長方形......................................................................................................49
第五章 結論與未來展望..........................................................................................51
5.1 結論..........................................................................................................................51
5.2 未來展望..............................................................................................................51
參考文獻..........................................................................................................................52
Extended Abstract.............................................................................................................54

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