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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/105807


    Title: 機械手臂之基於圖像的繪圖系統
    Other Titles: Picture-based drafting system for robot manipulators
    Authors: 李冠廷;Li, Guan-Ting
    Contributors: 淡江大學電機工程學系碩士班
    翁慶昌;許駿飛;Wong, Ching-Chang;Hsu, Chun-Fei
    Keywords: 機械手臂;連續線段畫圖;輪廓擷取;自適應性二值化;自適直方圖均化;Robot Manipulator;Coherent Line Drawing;Contour Extraction;Adaptive Binarization;Adaptive Histogram Equalization
    Date: 2015
    Issue Date: 2016-01-22 15:05:49 (UTC+8)
    Abstract: 本論文依據影像處理演算法以及B-Spline曲線演算法來設計實現一個六軸機械手臂繪圖系統,讓使用者可以簡單、快速有效的控制KUKA KR6 R900六軸機械手臂來實際的描繪出使用者想要的圖形。本論文所提出的方法同時可用來解決一個機械手臂畫圖的路徑規劃問題,該問題是依據「上銀科技」所舉辦之「上銀智慧機械手實作競賽」之「機械揮毫」比賽項目所設定的比賽項目,即在指定的紙張範圍內完成以「智慧自動畫」為主題的繪圖。為了達到更佳的效果,本論文主要探討繪圖系統,然而在傳統方法上,需人工選取畫圖座標點、人工編輯機械手臂畫圖路徑規劃與編輯手臂移動路徑,以上流程會耗費大量時間與設計繁瑣困難,因此本論文提出結合影像處理方法,辨識繪圖影像資訊,擷取出圖形輪廓並且由外而內的方式,編排畫圖輪廓的順序,經由B-Spline曲線演算法修正圖形輪廓,使繪圖曲線更加平順,最後透過網路傳送XML架構之KUKA機械手臂命令,控制機械手臂末端點移動速度,完成畫圖任務最後,經由實驗結果可知,所提的方法確實是控制機械手臂繪圖之一個簡單、快速的方法。
    In this thesis, we use image processing and B-Spline to design and implement a six-axis robot manipulator for drawing system which can make user more easy and efficient to control KUKA KR6 R900 robot manipulator. And draw picture out what user wanted. The proposed method is applied to solve picture drawing on path planning for robot manipulator. In this thesis, we focus on drawing system. In traditional method, it needs user to choose drawing points, edit robot manipulator drawing path and edit moving path all by manual, the procedure is time consuming and it’s hard to design. So we propose using image processing technique to recognize image information and extract image contour. And using B-Spline, to curve more smoothly. Last step is transmit drawing command to robot manipulator based on XML structure, And finish drawing task. According to experiment, this method is simple, easy and efficient to control KUKA robot manipulator drawing picture.
    Appears in Collections:[電機工程學系暨研究所] 學位論文

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