| 研究生: |
李文政 Lee, Wen-Cheng |
|---|---|
| 論文名稱: |
遠端監控微撓性機械夾持系統之研究 Research on Remote Supervisory and Control of Compliant Micro-Manipulator System |
| 指導教授: |
張仁宗
Chang, Ren-Jung |
| 學位類別: |
碩士 Master |
| 系所名稱: |
工學院 - 機械工程學系 Department of Mechanical Engineering |
| 論文出版年: | 2002 |
| 畢業學年度: | 90 |
| 語文別: | 中文 |
| 論文頁數: | 113 |
| 中文關鍵詞: | 遠端監控 、微撓性機械夾持系統 、影像伺服 、網路傳輸延遲 |
| 外文關鍵詞: | image-servo, compliant micro-assembly system, remote supervisory control, network transportation delay |
| 相關次數: | 點閱:155 下載:2 |
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本研究利用具有良好人機界面之圖控式程式語言LabVIEW來設計改良本「光機電系統控制」實驗室已發展出之一微撓性機械夾持系統,使之成為一可以藉由網際網路 (Internet) 瀏覽器 (Browser) 作遠端監視與控制 (Remote Supervisory and Control) 的一網路化遠端監控微撓性機械夾持系統。
另外將光源照明控制、影像處理技術、機械運動控制、CCD 攝影機影像視覺與網路技術整合成為一網路化影像伺服系統。
然後針對系統網路化操控時所面臨具隨機與時變 (Random and Time-variant) 特性的網路傳輸延遲時間,做量測並分析其對控制系統穩定度、響應與性能的影響。
最後希望藉由本文提出的此一研究,可以實現任何人在任何時間與地方皆可對本微撓性機械夾持系統作遠端監視與控制。
A compliant micro-manipulator system has been developed by our “Opto-Mechatronic Systems Control Laboratory”. In this thesis, a graphical programming language-LabVIEW with ease-of-use friendly human machine interface (HMI) is used to improve and enhance the previous system. The present system can be supervised and controlled remotely by using any internet browser. It is a network-based remote supervisory and control of compliant micro-assembly system.
To integrate illumination control, image processing methods, mechanical motion control, CCD camera image vision, and network technologies to the previous system, then it becomes a networked-based image-servo system. Furthermore it is the basis of becoming automatic system in the future.
Remote control via network encounters the problem of network delay with random time-variant characteristics. The affects of transportation delay on system stability, response and performance are measured and analyzed.
Finally, the present work contributes that everyone at any time and place can supervise and control this compliant micro-assembly system.
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