基於擴增實境之機械手臂操控介面開發

Abstract

隨著機器人產業蓬勃發展，以及自動化需求日增，越來越多工廠引進機械手臂代替人力，目前主要以教導盒或是電腦操控機械手臂，但操作時皆需要較長時間操作和設定，也給操作者相當大的負擔，為了讓操作效率提升、並減輕操作員的負擔，直覺的操作方法及友善的人機操控介面是必要的。本論文提出了以Android為平台的平板電腦來操作工業用機械手臂，並加上擴增實境的技術輔助使用者操控機械手臂，改良了之前開發的視覺牽引模式，解決其無法改變朝向的情形，並且透過擴增實境虛實結合的特性，開發了具有安全性、可攜性且直覺的操控系統，沒有機械手臂也可以進行教導。實驗比較所開發的介面和傳統的操控介面，驗證本實驗開發的系統之效率，也針對大量受測者作問卷調查，其中包括實際在工廠的從業人員，以了解受測者在使用所開發介面的感受，並得到許多意見回饋供未來系統改進之參考。

Along with the development in robot technologies, more robots have been introduced for industry automation. Currently, teaching pendent and computer are used for task planning, but they take much time for manipulation. To improve the performance of manipulation and reduce the burden of the user, intuitive manipulation and friendly human-robot interface are demanded. The proposed interface is based on Android platform and implemented on a tablet PC using augmented reality technics. We improve the visual lead-through manipulation developed previously and provide additional rotation capability. Furthermore, we equip the system with portability. The user can do the task planning even without a robot. Experiments are performed based on using the proposed system and other conventional interfaces, which are utilized for comparison. The experimental results demonstrate the effectiveness of the proposed system. In addition, questionnaires are used to acquire the feedback from subjects, which may help us to improve the system in the future.