隨著工業4.0的浪潮席捲而來，製造業對於工業型機器人的需求與日俱增，而生產線對於工業型機器人的精度要求也越來越高。有鑑於此，如何有效提升機器人的絕對精度並減少定位誤差為一重要研究課題。現行提升機器人絕對精度的方法不僅皆需使用昂貴儀器，且其操作過程繁瑣，不利於現場人員作業。本論文的主旨在於研究一套高精度、低成本、高便捷的運動學參數鑑別方法，可估算機器人的幾何誤差，並將誤差加以補償，提升工業型機器人的絕對精度。本論文建構了具完備性之運動學，可以有效描述真實世界機器人的幾何誤差，並依照所選定的運動學模型與所設計的低成本治具，推導對應物理約束之相對量誤差模型。本論文藉由資料蒐集並導入誤差模型，利用迴歸參數鑑別方法，鑑別出正確的運動學參數，將參數透過本論文所推導之補償模型，可以有效地將所鑑別之參數補償在機器人的順向與逆向運動學當中，提高絕對精度並降低幾何誤差。此外本論文所使用之治具與資料量測方法，十分方便產線人員操作，降低了操作困難度與時間成本。經過多項模擬與實驗後，本論文已將所發展之技術導入相關產品。根據產線人員實測之結果發現，本論文所發展之低成本、高便捷之運動學參數鑑別技術可有效降低幾何誤差達80%。

In recent years, issues regarding Industry 4.0 have become very popular topics of interest. In industrial circles, industrial robots are in great demand, while more and more manufacturers are accentuating the accuracy of these industrial robots. Accordingly, robot calibration is a major concern for increasing the absolute accuracy of robots. However, current practices require the use of expensive instruments such as laser trackers, which are difficult to operate. Therefore, the main purpose of this thesis is to discuss robot calibration methods which are low-cost and can be easily operated for decreasing geometric error and increasing absolute accuracy. It is divided into four parts to discuss the issue of robot calibration. The thesis begins by constructing a complete kinematics which can effectively describe the geometric error of real-world robots. According to the selected kinematic model and low-cost devices, we then design methods to derive corresponding error models with physical constraints. Next, we collect the calibration data and substitute it into the regression model to identify the correct kinematic parameters. Finally, the correct kinematic parameters can effectively compensate in forward and inverse kinematics through the compensation model derived from this thesis. The results of calibration simulations and experiments carried out on Delta DRV90L and ITRI 6-dof industrial manipulators show improved accuracy. After simulations and experiments, this thesis also introduces related products which can effectively reduce 80% of geometric error without the need for expensive instruments.

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