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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 顏炳郎(Ping-Lang,Yen) | |
dc.contributor.author | Zi-Xiong Chen | en |
dc.contributor.author | 陳子雄 | zh_TW |
dc.date.accessioned | 2021-07-11T14:42:25Z | - |
dc.date.available | 2021-11-02 | |
dc.date.copyright | 2016-11-02 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-08-17 | |
dc.identifier.citation | [1] B. Kaya, C. Oysu, H.M. Ertunc, “Force–torque based on-line tool wear estimation system for CNC milling of Inconel 718 using neural networks,” Advances in Engineering Software 42 (2011) 76–84.
[2] Ahmad R., Tichadou S. and Hascoet J. Y., 'Integration of vision based image processing for multi-axis CNC machine tool safe and efficient trajectory generation and collision avoidance,' Journal of Machine Engineering. Papers 10(4), 1-13 (2010). [3] Porrill, J., Pollard, S.B., Pridmore, T.P., Bowen, J.B., Mayhew, J.E.W., and Frisby, J.P. 1988. TINA: A 3D vision system for pick and place. Image and Vision Computing, 6(2):91–99. [4] A. Albu-Schaffer and G. Hirzinger, “Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, USA, Vol. 1, pp. 657-663, May 2002. [5] A. Albu-Schaffer, C. Ott, U. Frese, and G. Hirzinger, “Cartesian Impedance Control of Redundant Robots: Recent Results with the DLR-Light-Weight-Arms,” Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Vol. 3, pp. 3704-3709, September 2003. [6] A. Albu-Schaffer, C. Ott, and G. Hirzinger, “A Unified Passivity-Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots,' International Journal of Robotics Research, Vol. 26, No. 1, pp. 23-39, January 2007. [7] L. Biagiotti, H. Liu, G. Hirzinger, and C. Melchiorri, “Cartesian Impedance Control for Dexterous Manipulation,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, Vol. 4, pp. 3270–3275, October 2003. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78106 | - |
dc.description.abstract | 本研究開發一套加工機自動尋邊系統,結合影像以及力量感測的技術來達到自動尋邊的目的。整個研究主要分為兩個部分,分別為影像偵測系統以及力量偵測系統。影像偵測系統利用影像處理的技術,將目標物的特徵點萃取出來;萃取出特徵點後利用雙眼攝影機座標估測的方法,對特徵點進行座標估測,進而計算出目標物的尺寸以及相對位置;完成影像的偵測後,系統切換至力量控制模式,利用阻抗控制的方法,與目標物進行順應性的觸碰,在整個接觸式互動的過程,紀錄馬達編碼器的值,即可計算實際物件尺寸以及訂定加工原點。本研究結果顯示,本系統可以利用影像系統,對於未知尺寸的方形工件進行初步的尺寸偵測,而再利用力量控制可以確定目標物精確尺寸以及成功訂定加工原點。 | zh_TW |
dc.description.abstract | The research develop a processing of automatic edge finding system used in CNC milling machine. The system combines the image and force sensing technologies to achieve the purpose of edge finding. Throughout the study is divided into two parts, the image detection system and the force detection system. Image detection system uses image processing technology to extract the feature point of the object. After the extraction of feature points, the system calculates the size of the object and relative position by stereo camera coordinate estimation method. Currently, the image detection completed, the system switches to the force control mode. Using the method of impedance control to interact with target object. Record the value of the motor encoder between the contact interaction, the system can calculate the actual object size and set initial point of machining. The results of this study show that the system can use the imaging system to find out the size of unknown size workpiece. And then use the force control could detect precise dimensions and successfully set the initial point of machining. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T14:42:25Z (GMT). No. of bitstreams: 1 ntu-105-R03631024-1.pdf: 2220936 bytes, checksum: 71bc443f36a1cdd3e72aef001f0cec18 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 口試委員審定書 i
致謝 ii 摘要 iii Abstract 1 第1章 前言 6 1-1 簡介 6 1-2 文獻回顧 9 1-3 研究目的 9 1-4 研究方法 10 1-5 論文架構 11 第2章 影像偵測原理 12 2-1 攝影機校正原理 12 2-2 Canny邊緣偵測 14 2-3 霍夫轉換 16 2-4 雙眼攝影機模型 18 第3章 力量控制原理 20 3-1 阻抗控制 20 3-2 力量追蹤控制 24 第4章 研究架構 25 4-1 系統架構 25 4-2 特徵點訂定 27 4-3 特徵點萃取 28 4-4 空間座標估測測試 29 4-5 目標物尺寸估測 29 4-6 力量探測尋邊 30 第5章 結果與討論 31 5-1 攝影機校正結果 31 5-2 雙眼影像空間座標估測結果 34 5-3 特徵點萃取結果 36 5-4 尺寸估測結果 37 5-5 力量探測尋邊 39 第6章 結論與未來展望 42 參考文獻 43 | |
dc.language.iso | zh-TW | |
dc.title | 基於力量與影像感測的加工機自動尋邊系統之開發 | zh_TW |
dc.title | Automatic Edge Finding System of CNC Machine Based on Force and Vision Sensing | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 葉廷仁(Ting-Jen,Yeh),洪碩穗(Shuo-Suei,Hung) | |
dc.subject.keyword | 影像偵測,影像處理,力量控制,加工機, | zh_TW |
dc.subject.keyword | Vision detection,Image process,Force control,CNC machine, | en |
dc.relation.page | 43 | |
dc.identifier.doi | 10.6342/NTU201602471 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-08-18 | |
dc.contributor.author-college | 生物資源暨農學院 | zh_TW |
dc.contributor.author-dept | 生物產業機電工程學研究所 | zh_TW |
顯示於系所單位: | 生物機電工程學系 |
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