視覺機器手臂控制的伺服系統研究;A Development of Eye-on-hand Robotic Arm System

[[abstract]]關於醫療工程的研究，近年來是相當熱門的領域之一，機器手臂的發明帶來許多幫助，多為應用於工業與醫療領域。在醫療方面，微創手術是個偉大的發明，使醫療進步一大步，也因為精細度高，所以導致設備昂貴。我們希望機器手臂能普及化，在偏遠地區也可以享用，進可以代替手術副手的工作，如：固定關節傷口、清理血液，分擔醫療工作量，避免太過操勞。也可以幫助救援活動，在救護車上幫忙患者做初步檢查，協助醫護人員救護，促使執行效率更好，搶黃金救援時間。本論文，我們利用微型電腦(Raspberry Pi)來控制整個機器手臂，透過攝影機偵測到目標物位置資料，經過正向運動學演算，並傳輸訊號控制馬達運動。在機器手臂上裝4組重量輕且體積小的機電感測器，透過姿態資料，取得機器手臂的姿態，再透過無線網路連接上電腦，所以感測器姿態以無線網路傳輸至電腦，在電腦上執行Vpython，呈現機器手臂的同步姿態模擬。我們不僅有系統的控制，還有模擬端的參考，審視回饋的功能，藉此降低失誤對病患造成傷害。 In recent years, research in medical engineering has become quite popular. In the medical area, the greatest invention is minimally invasive surgery. It’s a huge progress for medical engineering. But the procedure is expensive because it requires high accuracy. In order to develop a low cost robotic arm to help doctors do work such as sewing wounds, or cleaning blood off of patients. By using the robotic arm, doctors can perform their job more effectively; they can save time doing preliminary checks on patients. In the thesis, Raspberry Pi is used to control the whole robotic arm. Using a webcam to detect a target, and then the Raspberry Pi for image processing to control the servo motors. The controller calculates the robotic arm’s attitude from the visual data and then send it to a computer by Wi-Fi. Finally, the synchronous simulation of the robotic arm’s attitude is presented on screen by Vpython. It not only depends on the control system but also reference for synchronous simulation. It gains feedback by placing the servo motor and sensor together. Thus the robot can avoid making mistakes on patients