臺灣博碩士論文加值系統

因應工業4.0浪潮，讓生產線與工作站變得更加彈性化已成為現今的趨勢，但物料的搬運、運送通常仰賴人工作業。本論文將基於機器人作業系統(Robot Operating System, ROS)建構一輛能夠建立地圖與在其中導航之自動導引車(Automatic Guided Vehicle, AGV)，並運用於各工作站之間，取代傳統人力運輸方式，提高整體產線效率。本研究使用X86電腦作為系統核心，並使用多個ROS功能包來實現機器人本身的定位、地圖建構以及導航，以及完成車體上機械手臂的動作控制。本研究將使用即時定位與地圖建構技術(Simultaneous Localization and Mapping, SLAM)整合光學雷達(LiDAR)掃描數據、馬達編碼器以及IMU，再利用座標轉換以及相關演算法來完成建構環境地圖以及車體定位。以AMCL(Adaptive Monte Carlo Localization, AMCL)來實現機器人在環境地圖上的即時定位並利用全域與區域路徑演算法完成自動導航以及即時避障。手臂部分使用近年來ROS開始往工業界擴展的機械手臂功能包，並實際驅動工業型機械手臂，控制各關節馬達以及手臂整體動作規劃，配合移動底盤完成機器人在各工作站之間移動並且讓機械手臂與工作站配合，完成高彈性自動上下料之功能。最終使用運輸機器人工作站整合系統，利用該系統整合工作站與運輸機器人的排程以及動作規劃，使其完成成為自動化工廠運作。

In industry 4.0 development, it is very important to make production lines and workstations more flexible. However, human operation is usually still major method for production transportation. A transportation robot composed of an automatic guided vehicle (AGV) and an industrial robot arm based on Robot Operating System (ROS) is constructed in this study. It can improve traditional transport method in factory and increase the production efficiency. Real time positioning and Simultaneous Localisation And Mapping (SLAM) will be adopted by integrating the LiDAR scanning data, encoder motor and IMU. Then, the mentioned features enable machine to perform environment map construction and vehicle positioning well via coordinated transformation and algorithms. Moreover, Adaptive Monte Carlo Localization (AMCL) could lead AGV to make a well-performed simultaneous localisation on geographic map. The global and local route algorithm is utilized to implement automation guiding and obstacle avoidance in the transportation robot. For the purpose of high flexible pick-and-place function among each workstation, the robot arm is setup on the transportation robot body. The developed package in ROS is used to activate the industrial robotic arm, control the joint motor and schedule the arm's movement. Finally, all systems will be integrated to achieve the production scheduling of workstation and transportation robot in an automatic factory.

摘要 ........................................................................................................................... i
Abstract .................................................................................................................... ii
誌謝 ......................................................................................................................... iii
目錄 ......................................................................................................................... iv
表目錄 ..................................................................................................................... vi
圖目錄 .................................................................................................................... vii
第一章 緒論 ............................................................................................................. 1
1.1 研究背景 ..................................................................................................... 1
1.2 文獻探討 ..................................................................................................... 2
1.2.1 移動底盤 ............................................................................................... 3
1.2.2 移動控制 ............................................................................................... 4
1.2.3 存放裝置 ............................................................................................... 4
1.3 論文架構 ..................................................................................................... 5
1.3.1 機器人架構 ........................................................................................... 6
1.3.2 運作流程 ............................................................................................... 7
第二章 機器人作業系統ROS ................................................................................ 8
2.1 關於ROS ..................................................................................................... 9
2.2 機器人系統核心 ......................................................................................... 9
2.3 機器人作業系統起源與開發理念 ........................................................... 10
2.4 ROS 內部通訊 ........................................................................................... 11
2.5 車體移動功能包 ....................................................................................... 14
2.6 機械手臂功能包 ....................................................................................... 14
第三章 車體設計與架構 ....................................................................................... 15
3.1 車體設計與概述 ....................................................................................... 16
3.2 系統架構 ................................................................................................... 17
3.2.1 微控制器 ............................................................................................. 18
3.2.2 通訊以及命令格式 ............................................................................. 18
3.2.3 移動底盤 ............................................................................................. 19
3.2.4 慣性量測單元IMU ............................................................................ 20
3.2.5 電源系統 ............................................................................................. 21
3.3 車體運動 ................................................................................................... 23
第四章 即時定位與地圖構建 ............................................................................... 26
4.1 距離感測器 ............................................................................................... 26
4.1.1 光學雷達 ............................................................................................. 26
4.2 地圖 ............................................................................................................ 27
4.2.1 地圖建構 ............................................................................................. 27
4.2.2 地圖主題 ............................................................................................. 28
v
4.3 Gmapping 功能包 ...................................................................................... 29
4.3.1 座標樹 ................................................................................................. 30
4.3.2 Rao-Blackwellized 粒子濾波器 ......................................................... 31
第五章 自動導航與避障 ....................................................................................... 33
5.1 代價地圖(Costmap)................................................................................... 33
5.1.1 空間狀態 ............................................................................................. 34
5.1.2 地圖分層與更新 ................................................................................. 34
5.1.3 地圖結構 ............................................................................................. 35
5.2 自適應蒙特卡羅方法 ............................................................................... 36
5.3 機器人移動路徑規劃 ............................................................................... 37
5.3.1 全局路徑規劃 ..................................................................................... 37
5.3.2 局部路徑規劃 ..................................................................................... 37
第六章 機器手臂與MoveIt!功能包 .................................................................... 38
6.1 MoveIt!系統架構 ...................................................................................... 39
6.2 UR3 機械手臂 ........................................................................................... 40
6.2.1 通訊 ................................................................................................ 40
6.3 運動規劃 ................................................................................................... 41
第七章 實驗結果 ................................................................................................... 42
7.1 運輸機器人硬體 ....................................................................................... 42
7.2 即時定位與地圖建構實驗紀錄 ............................................................... 44
7.3 導航與避障實驗記錄 ............................................................................... 49
7.4 MoveIt!功能包 .......................................................................................... 54
7.5 整體系統架構 ........................................................................................... 56
7.6 整體控制流程 ........................................................................................... 57
第八章 結論 ........................................................................................................... 60
第九章 未來展望 ................................................................................................... 61
參考文獻 ................................................................................................................ 62
Extended Abstract .................................................................................................. 65

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