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研究生：	謝尚勳 Shie, Shang-Shiun
論文名稱：	基於視覺之PH雲形線平面運動軌跡插值器之研究 A Study on Vision-based Pythagorean Hodograph Spline Interpolator for Planar Motion Trajectory
指導教授：	鄭銘揚 Cheng, Ming-Yang
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2010
畢業學年度：	98
語文別：	中文
論文頁數：	134
中文關鍵詞：	循跡控制、參數式曲線、PH 曲線、PH 五次雲形線、攝影機校正
外文關鍵詞：	contour following task, parametric curves, PH curves, PH quintic curves, camera calibration
相關次數：	點閱：98 下載：1
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如何產生運動軌跡命令是循跡控制問題中之重要課題。一般而言，運動軌跡是以參數式曲線表示，然而因軌跡產生式中存在著無理數項，僅能求得其近似解，導致所產生的位置軌跡可能較不精確。有鑑於此，基於PH 曲線計算弧長具精確解之優點，本論文應用PH 五次雲形線並結合視覺系統以即時提供目標加工物件之輪廓資訊，進而規劃出雙軸機械手臂之平面運動軌跡，並產生適當之輪廓追隨位置命令。
為提供雙軸機械手臂之座標系定位資訊，本論文應用攝影機校正之技術，解決影像平面與機械手臂座標系之間資訊轉換的問題。最後，本論文進行雙軸機械手臂之循跡控制實驗，以驗證本論文所提方法之可行性。

In contour following tasks, how to generate motion trajectories is an important issue of much concern. In general, the motion trajectory is commonly represented by a parametric curve. However, because of the irrational terms existing in the trajectory generation formula, only an approximate solution can be obtained with the result the generated command trajectory may be inaccurate. In order to deal with the aforementioned difficulty, the attractive feature of an exact solution in arc length calculation for the PH curve is exploited in this thesis to generate suitable motion commands for a planar contour following task. In the novel approach proposed in this thesis, a visual system is incorporated to provide the contour information of the object for machining, while PH quintic splines are used to generate motion commands of the contour following tasks based on the contour information provided by the vision system.

In order to provide the localization information of the two-link robot coordinate system, a well known camera calibration approach is employed to solve the coordinate transformation problem between the image plane and the two-link robot coordinate system. Finally, several contour following experiments by the planar two-link robot manipulator are conducted to verify the feasibility of the proposed approach.

中文摘要................................................................................................................................I
ABSTRACT..........................................................................................................................II
誌謝.......................................................................................................................................III
目錄......................................................................................................................................IV
表目錄................................................................................................................................VIII
圖目錄..................................................................................................................................IX
第一章 緒論.........................................................................................................................1
1 研究動機與目的............................................................................................................1
2 文獻回顧........................................................................................................................2
3 本文架構........................................................................................................................3
第二章 參數式曲線............................................................................................................5
1 前言.................................................................................................................................5
2 多項式曲線....................................................................................................................5
3 埃爾米特基底之曲線...................................................................................................8
4 C2 三次埃爾米特雲形線...........................................................................................10
5 貝茲曲線......................................................................................................................15
6 B 雲形線.......................................................................................................................20
6.1 B 雲形線基底特性...................................................................................................20
6.2 節點向量結構...........................................................................................................21
6.3 B 雲形線與貝茲曲線比較......................................................................................26
7 小結...............................................................................................................................26
第三章 PH 雲形線............................................................................................................27
1 前言...............................................................................................................................27
2 PH 曲線.........................................................................................................................27
2.1 PH 曲線之自由度.....................................................................................................28
2.2 PH 曲線之建構.........................................................................................................29
2.3 PH 曲線弧長、單位導數向量與曲率計算............................................................32
3 PH 雲形線.....................................................................................................................33
3.1 C2 PH 五次雲形線...................................................................................................34
3.2 端點條件...................................................................................................................36
3.3 牛頓法求解...............................................................................................................41
3.4 直覺式設計PH 雲形線...........................................................................................49
第四章 目標物件輪廓偵測之視覺演算法....................................................................53
1 前言...............................................................................................................................53
2 目標物件初始位置偵測.............................................................................................54
2.1 背景相減法...............................................................................................................54
2.2 影像型態學處理.......................................................................................................56
2.3 物件標示...................................................................................................................57
3 目標物件輪廓擷取.....................................................................................................58
3.1 邊界描繪...................................................................................................................58
3.2 Canny 邊緣偵測........................................................................................................59
3.3 蛇輪廓模型...............................................................................................................62
第五章 座標變換與 PH 雲形線平面軌跡插值器.......................................................69
1 前言...............................................................................................................................69
2 雙軸機械手臂座標系.................................................................................................70
3 機械手臂位置偵測與追蹤.........................................................................................72
3.1 機械手臂初始位置偵測..........................................................................................72
3.2 機械手臂位置追蹤..................................................................................................74
3.2.1 機械手臂輪廓之曲線表示法..............................................................................74
3.2.2 機械手臂之輪廓追蹤...........................................................................................76
3.2.3 機械手臂標記點定位...........................................................................................79
4 座標軸變換..................................................................................................................79
4.1 攝影機校正...............................................................................................................80
4.1.1 攝影機內部參數....................................................................................................80
4.1.2 攝影機外部參數....................................................................................................83
4.1.3 攝影機校正............................................................................................................84
4.2 攝影機校正應用於雙軸機械手臂系統................................................................88
5 PH 五次雲形線插值器...............................................................................................92
5.1 輪廓軌跡參數式曲線化..........................................................................................92
5.2 PH 五次雲形線插值器............................................................................................95
第六章 實驗設備與實驗結果.......................................................................................100
1 實驗設備....................................................................................................................100
1.1 雙軸機械手臂工作平台........................................................................................100
1.2 目標加工物件.........................................................................................................100
1.3 攝影機與鏡頭.........................................................................................................101
2 實驗結果....................................................................................................................102
2.1 攝影機校正.............................................................................................................102
2.2 目標物件輪廓參數式曲線化誤差計算..............................................................104
2.3 雙軸機械手臂視覺追蹤定位及循跡控制..........................................................109
2.4 PH 五次雲形線位置命令插值方式探討.............................................................126
第七章 結論與建議........................................................................................................129
1 結論.............................................................................................................................129
2 未來展望與建議........................................................................................................130
參考文獻............................................................................................................................131

                                    

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