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題 名 | 機器手臂應用在番茄大小選別過程中搬移作業之研究=The Study of the Delivering Operation with Robotic Manipulator in the Size Sorting of Tomatoes |
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作 者 | 林聖泉; 藍光宏; | 書刊名 | 農林學報 |
卷 期 | 46:2 1997.04[民86.04] |
頁 次 | 頁29-46 |
分類號 | 434.251 |
關鍵詞 | 番茄; 機器手臂; 路徑規劃; Tomato; Robotic manipulator; Path planning; |
語 文 | 中文(Chinese) |
中文摘要 | 本文以自行研製之三軸關節型真空吸附式機器手臂應用於番茄大小選別作業中所 需進行之抓取與搬移動作,分別針對各關節軸之步進馬達控制系統與路徑模式選擇策略,進 行分析與規劃設計。首先進行三軸機器手臂之運動學與反運動學分析,推導各關節軸座標系 統與慣性座標系統之轉換矩陣,可依據不同座標點而計算各軸轉動角度,進而驅動手端達到 預定位置。將三軸關節型機器手臂與四種路徑模式 (最近相鄰法、橫向依序排列法、縱向依 序排列法、由遠至近法 ) 配合,進行番茄抓取與搬移動作之試驗。 結果顯示,運用真空吸 附式手端抓取番茄之成功率約為 97.3%, 而平均搬移時間各路徑模式差異不大,約為 33.7 秒。 |
英文摘要 | A 3-axis robotic manipulator with vacuum sucker was developed to use in gripping and carrying tomato during sorting process. The control of stepping motor of each joint and path planning of the end-effector had been undertaken in this study. In the kinematics and inverse kinematiocs analysis, the transformation matrix of each link coordinate w.r.t. inertial coordinate frame was derived first; according to the desired location of end-effector, the rotation of each joint can be computed. Four modes for path planning, i.e. NEAREST-NEIGHBORHOOD, TRANSVERSAL-SEQUENCE, LONGITUDINAL-SEQUENCE, and FAR-TO-NEAR, were investigated in the experiment. The results were shown that 97.3% of tomato were grabbed and delivered successfully by the rate of 33.7 seconds per tomato. |
本系統中英文摘要資訊取自各篇刊載內容。