Developing an Automatic Robot Arm Grasping System Using 3D CAD Model and 3D Points Processing Techniques

• Main Authors: Bo-Fu Wang, 王柏富
• Other Authors: Ching-An Lin
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/9gwr2p

碩士 === 國立臺灣科技大學 === 機械工程系 === 107 === The presence of robot arm has been turning into the core of remaining competitiveness as intelligent manufacturing has been developed, especially while labor cost is ascending. And as the technology of sensors surfaces, industries commence being in pursuit of flexibility of robot arm application, thus experts started delving into structured light scanner and CCD to try to acquire data in environment, and combine it with robot arm to attain the maximum of the flexibility in industry automation. Robot grasping nowadays mostly utilizes only 3D point data, which is from structured light scan to evaluate grasping points. However, the result of this method thoroughly relies on the camera viewing angle, therefore, it will just furnish a robot arm with narrow grasping options. To deal with this problem, this research developed a system to analyze grasping points via 3D CAD model with intact geometric information in order to provide more various options for robot arm, on top of it, robot arm will be able to designate a most stable grasping points. This research primarily utilizes geometric information from 3D CAD model to analyze grasping points by ray intersection. And in order to avert the interference between gripper and object, this research builds up a specific checking procedure. Moreover, it also sieves out inappropriate grasping points from all options due to present pose, and pick out the most appropriate ones via certain conditions eventually. At last, it will command robot arm to grasp the object at exact position. Besides expatiating on PCL algorithms and 3D CAD analysis, this thesis also demonstrates the capability of the system via couple of objects with various geometries.