影像伺服控制在機器臂焊接之應用

Abstract

目前營建業之勞動力供給日益困難，故如何減少人力，增加工作效率，提高工作 環境安全及工程品質，一直為營建自動化中的重要目標。 而本論文之主要目的為探討影像追蹤控制在焊接自動化機器臂之可行性。首先 利用二塊金屬板來模擬焊接自動化中的被焊接物體，而二塊金屬板交接處的 直線﹐即是所要焊接的部份。由攝影機鏡頭所拍攝的畫面讀入電腦中，利用 影像處理的技巧突顯觀測物體， 進而求出物體的各特徵點及中心線，接著配合三維空間座標求解， 計算其在空間中相對攝影機中心的座標位置，接著用卡氏空間控制法則，先求出 焊軌相對於機器臂基底的空間位置，再令機器臂前端CCD鏡頭中心或是抓取器 (end-effect)在該軌跡上作定速等距移動，並配合追縱控制來提高準確度， 模擬焊接動作之進行。 目前論文的發展成果已能利用影像導引來操控機器臂在未定環境下，對空間中之三維 物體做焊接模擬，若未來欲使用視覺伺控制來操控機器人對物體做實際焊接，則依 此實驗發展下去應可達成一定的成果。

In recent years, the shortage of laborers has become a serious problem in the field of building. It is important to improve automatic and working efficiency in our society. In this thesis we present a visual servoing control system to simulate and discuss the feasible in automatic robot welding system. First we take two metal blocks as our object need to be welded. Take the object image from camera and use image process method to get features of it, then caculate the object position opposite to the camera center frame using thress dimension position estimation method. Finally drive the camera center move along the connected line with fixed distance and volicity to simute the automatic robot welding work as our experment. A system with visual servoing control method has been present in this thesis. We can use this system to drive the robot simulating automatic welding. If we want to construct a real automatic visual robot welding system in the furture, it will also get good result according this thesis.