| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === This thesis focuses on generating an easy-to-extend off-line programming software for autonomous assembly task planning. Off-line programming for autonomous assembly tasks involve various technical disciplines, including autonomous assembly sequence planning, obstacle avoidance, 3D space trajectory planning, and force feedback control for robot arms. The software is designed to comprise modularized algorithms applicable to those topics relating to autonomous assembly tasks, and allow developers or users to add or change algorithms with ease. The software is based on FreeCAD, an open-source CAD software based on OpenCASCADE. This makes developers or users accessible to the powerful functions of OpenCASCADE. The main programming language is Python, which enables developers or users to develop in a relatively easy operation.
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