針對工業機械手臂開發之平板虛擬圖繪式人機介面系統

Abstract

隨著機器人產業的發達，工廠也導入更多機器人，以進行自動化量產，而由以往機器手臂代替人類執行大量且單調的工作，也漸漸開始執行複雜的任務；機器臂的任務教導，傳統是使用教導盒進行設定，但此種操作方式不但需要長時間的培訓，不夠直觀的操作介面也會給予操作者不小的負擔，對複雜的任務需求已不再適用。如果想讓任務教導高效率化，勢必要發展新的操作方法和友善直觀的人機操作介面，一個良好的介面除了提供機器人的資訊外，更應有輔助使用者熟悉機器人操作系統之功能。本論文提出以使用Android平臺之平板電腦來操作工業機器手臂，並設計友善圖繪式人機介面提供輔助，研究的議題包括平板與電腦的連線建立、教導與可編譯程式功能之實現、虛擬實境圖繪式環境建立、介面系統獨立運作之建構及直覺式操作法之設計等，並以實驗進行傳統操控器與所開發的人機介面系統之比較，驗證本篇所開發之系統能有效減少操作時間、提高任務效率並輔助使用者完成任務。

Along with fast development in robot technologies, more robots have been introduced to execute automated mass-production. Robot manipulators now have been applied for many different kinds of tasks, including tasks of high complexity. In convention, the teaching pendent is used for task planning. However, it is not suitable for complicated tasks, because of long training time and not so intuitive manipulation. For these reasons, we intend to develop a new type of human-robot interface. This interface not only provides robot information, but also functions that can simplify the teaching process. The proposed interface is based on Android platform and implemented on a tablet PC, which is meant to be user-friendly. The research topics include connection between the tablet and computer, task teaching, virtual graphic environment building, and design of intuitive operation. Experiments are performed based on using the proposed system and conventional teaching pendent for demonstration. By this experiment, we display how our interface was successful in reducing the completion time and effective in helping the users.