| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 91 === Abstract
The objective of this research is to establish an automatic assembly system, which is capable of choosing different dispatching paths to the specific socket location for different parts. This automatic assembly system integrates the robotic motion control, sensing and measuring device, machine vision, and assembly force detecting techniques.
The robotic motion control performance is the key role of this automatic assembly system. A tabletop SCARA robot is built for this application purpose. It is a distributed control structure with PC as center control unit and At89c51 micro controller as the distributed control unit for each axis. The model-free fuzzy sliding mode control is embedded in each joint controller for simplifying the model based control problem. PC communicates with joint controllers by network communication. The machine vision is introduced to search the position and measure the size of the assembly parts. Then the robot picks the part sequentially based on the specified program to complete the assembly process.
Based on the experimental results, acceptable controller performance, reliable pattern match and force monitoring are obtained, and the integration purpose of robot random assembly is achieved.
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