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工業技術研究院

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技術名稱: 自動手眼校正模組與視覺回饋控制技術

技術簡介

工業機器人因絕對精度的不足,導致無法直接應用在繞切、塗膠等作業,而需要其他外部感測器的搭配。此外,在機器視覺整合機械手臂的應用中,目前是以人工方式處理,這對於推廣機器人自動化頗為不利。

Abstract

Due to the lack of absolute accuracy, industrial robot can’t be directly applied in the cut, glue and other operations. Besides, in the application of machine vision integrated robotic arm, it is currently handled manually. This method is quite unfavorable for the promotion of robot automation.

技術規格

手眼校正與視覺回饋控制模組:建立手臂與攝影機之六自由度空間轉換機制(包含攝影機內部參數校正),可於8分鐘內完成手眼校正,工件定位精度< 0.2 mm

Technical Specification

1. 2.4kW robot-dedicated servo drive 2. International Standard Industrial Network Technology (EtherCAT)

技術特色

(1)系統模型建構:分析手臂尺寸、結構設計、動力傳遞等,建構手臂物理模型。 (2)循環週期設計&分析。 (3)幾何偏移前饋控制技術搭配循環週期分析設計,提升機器人ㄇ字型運動週期。

應用範圍

高定位需求之機器人應用

接受技術者具備基礎建議(設備)

1.具開放式控制器架構之6軸關節式機器人 2.MIO控制器

接受技術者具備基礎建議(專業)

電子、電機、資訊、機械等工程背景、具C語言程式設計能力。

技術分類 機械自動化

聯絡資訊

聯絡人:蕭欽奇 智慧機器人技術組(0Q000)

電話:+886-3-5913896 或 Email:hsiao_cc@itri.org.tw

客服專線:+886-800-45-8899

傳真:+886-3-5913607

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