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研究生: 吳載根
Zai-Gen Wu
論文名稱: 線上自動光學檢測系統
In-Line Automatic Optical Inspection (AOI) System
指導教授: 林柏廷
Po-Ting Lin
口試委員: 李維楨
Wei-Zhen Li
陳羽薰
Yu-Xun Chen
學位類別: 碩士
Master
系所名稱: 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年: 2019
畢業學年度: 107
語文別: 中文
論文頁數: 101
中文關鍵詞: 自動光學檢測生產線不停線AOI6R機械人手臂3-D掃描器
外文關鍵詞: Automatic optical inspection, production line, non-stop AOI system, 6R robot arm, 3-D scanner
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摘 要 ADSTRACT 誌謝 符號索引 圖表索引 第一章、 序論 1.1 研究動機與目的 1.2 文獻回顧 1.3 論文架構 第二章、 系統架構 第三章、 3-D 點雲處理 3.1 濾波 3.1.1 直通濾波 3.1.2 稀疏點雲密度 3-2 KD-TREE 3.3 點雲分割 3.3.1 隨機抽樣一致 3.4 點雲法向量計算 3.5 迭代最近點法 3.5.1 點特徵直方圖 3.5.2 快速點特徵直方圖 3.5.3 粗對齊 3.5.4 精對齊 第四章、 機器人運動學 4.1 機械手臂座標系統 4.2 座標轉換 4.3 D-H 參數法 4.4 順向運動學 4.5 逆向運動學 第五章、 實驗方法與結果 5.1 實驗設備 5.2 實驗方法 5.2.1 3-D 掃描器與機械手臂之座標轉移 5.2.2 待測物速度計算 5.2.3 機械手臂檢測角度計算 5.2.4 機械手臂移動模式 5.3 結果與討論 5.3.1 速度、方向角固定,仰角改變 5.3.2 速度、仰角固定,方向角改變 5.3.3 仰角、方向角固定、速度改變 5.3.4 檢測位置誤差 5.3.5 量測圓面積 第六章、 結論與未來展望 6.1 結論 6.2 未來展望 參考文獻 個人簡介

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