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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/14


    Title: Rhino平台於六軸機械手臂避障路徑規劃與應用;The Design and Application for the Obstacle-Avoidance with Path Planning of 6 DOF Robot by using Rhino Interface Platform
    Authors: 黃裕翔;HUANG, YU-XIANG
    Contributors: 資訊工程研究所
    Keywords: 六軸機械手臂;路徑規劃;障礙物;6 DOF robotic arm;Obstacle-Avoidance;Path planning;Rhino
    Date: 2018
    Issue Date: 2019-05-23 10:30:09 (UTC+8)
    Publisher: 資訊工程研究所
    Abstract: 隨著工業4.0的時代來臨,機器人在許多產業應用上是不可或缺的。目前一般機械手臂之路徑規劃方法,大部分都是以人工教導方式謝入移動點座標系統,作為機械手臂移動時之路徑規劃方式。但是在變速運動之障礙物的路經規畫,及複雜的工作狀態中,教導盒的功能是無法滿足實際需求,因此無法將可能發生之問題於是先給予正確解決方法,以致於浪費較多的工時。本研究主要以電腦輔助設計軟體Rhino 6版本為發展之環境,以HIWIN RA605型六軸機械手臂為模型和以C#程式作為規劃避障路徑的主要語言,可以讓使用者於離線工作環境下事先規劃出機械手臂與工作物件之運動路徑。使用者在Rhino環境中,本論文可自動偵測機械手臂的各關節中心點、關節長度、TCP、Base座標等等,使用者可藉由滑鼠拖曳的方式讓機械手臂末端到達使用者指定的座標點上,並利用Rhino裡的GetBoundingBox功能來對工件(障礙物)取得最大邊界點作為避障點的參考計算,計算避障點與機械手臂的移動起始點之距離,並與機械手臂實際移動距離加以比較,找出一條最短避障路徑。
    With the advent of the industry 4.0, robots are indispensable for many industrial applications. At present, most of the general robot arm path planning methods are taught by the manual teaching method to move the coordinate system as a path planning method when the robot arm moves. However, in the path planning of the obstacles of the shifting movement and the complicated working state, the function of the teaching box cannot meet the actual needs, so it is impossible to give the correct solution first, so that more waste is wasted. Working hours.This study mainly uses the computer-aided design software Rhino 6 as the development environment. The HIWIN RA605 six-axis robotic arm is used as the model and the C# program is used as the main language for planning the obstacle avoidance path, which allows the user to plan in the offline working environment. The path of movement of the robot arm and the work object.In the Rhino environment, the paper can automatically detect the joint center point, joint length, TCP, Base coordinates, etc. of the robot arm. The user can drag the end of the robot arm to the user-specified position by dragging the mouse. At the coordinate point, and using the GetBoundingBox function in Rhino to obtain the maximum boundary point of the workpiece (obstacle) as a reference calculation for the obstacle avoidance point, calculate the distance between the obstacle avoidance point and the movement starting point of the robot arm, and the actual distance with the robot arm Compare the moving distances to find the shortest obstacle avoidance path.
    Appears in Collections:[資訊工程學系] 學位論文

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