Building an Augmented Reality-based Motion Planning Scheme for Industrial Robot

• Main Authors: SHIH, SIANG-YANG, 施祥洋
• Other Authors: CHENG, TZONG-MING
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/7pdk64

碩士 === 朝陽科技大學 === 工業工程與管理系 === 106 === Planning precise motions and paths for industrial robots are routine tasks in nowadays automatic production systems. Robots have been widely implemented on production sites to replace manual skills and connect operations among machines. Since the nature of programmable and high precision makes robots the perfect tool of flexibility, they also become the perfect partners for Industry 4.0 intelligent production environment. Therefore, the latest design of products will have to consider automatic handling of robots if necessary, and the overall needs of handling tools, motions and product versatility will soar at the same time. In the past, most engineers preferred setting up task points on sites with manual assists and visual verifications. Those testing processes usually bring interruptions to the on-going tasks and, thus, create inefficiencies. As robot tasks become more and diverse, planning motions for robots should be made more intuitive, off-line, off-site, and remotely to relieve the loading and facilitate the process. This research will implement Augmented Reality (AR) techniques to identify 3D positions on-site using AR markers, and transform 3D task points into robot joint parameters with reverse kinematics. The joint parameters are then performed on a 3D mimic in the AR virtual environment with realistic background for feasibility verification. The whole process then become a remote or off-line cyber-physical system (CPS) for robot motion planning.