| Summary: | 碩士 === 國立交通大學 === 電控工程研究所 === 107 === Nowadays, the tendency to replace the labor with machines has begun in the traditional industry, and the ecology in the factory gradually emphasizes unifying work efficiency to improve the overall efficiency. Therefore, the overall efficiency could be controlled by the fixed operating frequency of the robot. Since there've been many researches about industry being applied in robotics industry, but they are often limited to the size of the experimental field and couldn’t be tested in a real factory. In this thesis, it divided into three parts: Production line Pick-and-Place task in simulation, Pick-and-Place task realization in real world, and Human-Robot cooperation.
The factory's production line environment is established to used for Pick-and-Place task experiments through simulation system, which include: System state machine design, Manipulation of UR10 robotic arm , Object Information monitoring, and Grasp pose estimation. In this thesis, we reduce the scale of the results in simulation and extend it into the real environment. In Pick-and-Place and transport tasks, we add the detection of the AprilTag for object pose detection, UR5 robotic arm and gripper control, AGV automatic trail following, and also simplify the state machine of simulation for real world. In the final experiment, we add the safety application of human-robot cooperation based on the Pick-and-Place task in real world. When human and the robot share the same space, the robotic arm should immediately stop safely and then start planning a new path to avoid human and continue operating.
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