| Summary: | 碩士 === 國立海洋大學 === 機械與輪機工程學系 === 87 === The leading limitation on Automatic Guided Vehicle (AGV) exists the error of positioning repeatability. The error, in general, is not allowed for machining on a CNC machining center. In this thesis, an integrated system was developed, on which a computer vision was installed on AGV to trace the positioning error between the handling manipulator and AGV. As AGV came to the designated position, the vision system detected and evaluated the relative error between the robot and AGV. Then, the robot corrected the error, if existed, and grasped at the workpiece to be machined to the CNC machining center.
In addition, an error compensation algorithm, in which the slope of error curves was employed to correct the position error of the robot, was proposed. This would help the robot grasp at the workpiece more precisely. As a result, the promotion on the product quality would be expected.
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