本研究目的在開發出一套機械手臂噴塗三維物件的全自主軌跡規劃系統，使用多掃描系統擷取三維資料後規劃機械手臂噴塗軌跡並以機械手臂加以執行噴塗任務。此軌跡規劃系統採用多台Kinect偵測物件的三維資料，整合出最完整的三維資料，依照三維資料規劃最佳機械手臂噴塗軌跡，並執行機械手臂噴塗。多面掃描系統部分，首先校正出各Kinect與機械手臂之間轉換矩陣，運用這些轉換矩陣將各個Kinect所擷取的三維料轉換至以機械手臂為基準之座標系。軌跡規劃部分，以三維資料定義物件之方向及大小後，規劃出表面塗料路徑，並求出路徑法線向量，之後即可計算出手臂移動軌跡及姿態，然後將軌跡最佳化，並依照實際之運用需求選取噴塗平面及曲面。此系統可執行即時掃描和軌跡規劃，因此即使物件形狀改變也能立刻重新規劃軌跡。再將規劃的路徑位置及姿態，利用反運動學計算出機械手臂各軸旋轉角度，即可操作工業機械手臂完成噴塗任務。

The purpose of the research is to develop a robot-arm based autonomous spray trajectory planning system for 3D objects. In order to perform the spray task with the robot arm, we use the multipleKinect scanning system to capture the three-dimensional data and plan the object spray trajectory for the robot arm. The system can obtain surrounding three-dimensional data of the object with multiple Kinect and plan the multi-face spray trajectory for the robot arm to perform the spraying task. In the multiple-Kinect scanning system, the transformation matrix between the robot arm and each Kinect is calculated first. Then, these transformation matrices transform the three-dimensional data captured by each Kinect to the coordinate system based on the robot arm and match the three-dimensional data by the ICP algorithm. In the trajectory planning system, once the orientation and size of the object are defined, the paint path on the surface will be planned, and generate the normal vector of each point on the path. Then we can plan the robot arm movement trajectory and attitude, and optimizing the trajectory. The positions of the end effectors that define the spray trajectory are then used to calculate robot joint angle sets through inverse kinematics and the robot can start to perform the spray tasks on the object.

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