隨著工業自動化、智慧製造之發展，機械手臂逐漸取代人力進行加工、組裝之工作，而雷射加工則多以X-Y平台、龍門式平台等機構為基礎設計。若以機械手臂進行雷射加工，則能獲得更自由的加工靈活性。數位影像以二維點陣圖形式儲存，容易將矩陣座標轉為X-Y座標加工碼，但是為了能夠發揮機械手臂結構優勢，本研究將二維點陣圖轉為極座標形式之加工碼，並根據機械手臂結構特性設計極座標加工演算法。 本研究使用之機械手臂為本實驗室開發的Palletizing Robot機構，搭配STM32微控制器進行控制，並設計使用者介面操作機械手臂及對影像進行前處理及加工碼生成。 實驗部份透過測試檢測機械手臂速度精準度，並對二值化影像、邊緣偵測影像測試雷射效果，最後測試極座標加工演算法與傳統X-Y方向加工演算法結果之差異。 ;With the development of Industrial Automation and Smart Manufacturing, robotic arm gradually replaces the manual work for processing and assembly, while the laser processing is based on the X-Y platform or Gantry platform. If using robotic arm for laser processing. we can get more flexibility for processing. Digital image is saved in 2-D bitmap format, which is easy to be transformed into X-Y coordinate processing code. However, in order to take advantage of the structure of robotic arm, we transform the 2-D bitmap into polar coordinate processing code, and design the processing algorithm based on the structure of robotic arm. The robotic arm we used in this research is the Palletizing Robot developed by our laboratory, which is controlled by the STM32 microcontroller. We also design the user interface for controlling the robot arm, image pre-processing and processing code generation. We test the accuracy of the speed of robot arm, test the result of the binarized image and the edge-detected image, and finally test the difference between the polar coordinate processing algorithm and the traditional X-Y coordinate processing algorithm.
