Collision Detection of Industrial Automation

• Main Authors: LIN, CHIA-HSUAN, 林家璿
• Other Authors: CHANG, RONG-GUEY
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/h6hzdg

碩士 === 國立中正大學 === 資訊工程研究所 === 106 === Since ancient times, advances in industrial technology have been the goal pursued by mankind and one of the keys to improving the quality of human life. The Industrial Revolution began in 1760. During this time, human production gradually shifted to a new manufacturing process. There was a trend of replacing manpower and animal power with machines, and a production and technological revolution that replaced large-scale factory production with manual production in individual workshops. Since the invention and application of the machine became a symbol of this era, historians call this age the Age of Machines [1]. With the rapid development of science and technology, the desire of people to pursue industrial technological progress has not changed. The production line in the factory is gradually automated, moving towards the goal of fully replacing manpower by machinery. Therefore, the motion planning and safety index of the robot arm in the production line are particularly important. This paper has improved the collision detection technology for the robot arm and actually simulated the production line. In the past, collision detection software or algorithms were mostly calculated using the Graphics Processing Unit (GPU). Object simulation was performed using Polygon mesh [2]. This method will require high costs and does not meet the requirements. Industrial demand. This dissertation improves this shortcoming by using Oct-Tree Algorithms to decompose the object shape [3] and then use the Bounding Box technique to form a cover box [4]. This simplifies the calculation and reduces the error within an acceptable error range. calculating time. Finally, we also implemented the algorithm on the Rhino software to construct an industrially very convenient line simulation system.