| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 103 === This thesis develops an innovative 6-axis manipulator touch control system which is based on the hybrid visual servo techniques and human-computer interaction designs. This system has three main functional modules, including the stereo vision touch guidance module, the single camera eye-in-hand visual servo system and the micro touch adjustment module. By using this system, the user can use the stereo vision system to guide the manipulator to approach a target position with a safety distance. Then the visual servo or micro touch adjustment modules can be used to guide the end effector to reach the target position. For industrial production applications, this thesis also proposes some assistant tools, such as the trajectory recording and the repeating units.
Due to the characteristics of lower price, easy installment, and easy to extend, the motion trajectory of a 6-axis manipulator in three-dimensional space can be conveniently generated. The system has a great potential in applications of intelligent automation.
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