• 作者： 傅立成; 詹昌士; 劉松漢
• 作者服務機構： 國立臺灣大學資訊工程學系
• 中文摘要： 一個智慧型自動化機器人組裝系統為能順利完成工作，一般須具備能因應週遭環境變動之數項子系統，例如有資料蒐集、決策，及執行功能等各式子系統；儘管各個子系統均扮演了相當重要的角色，但如何使此等子系統間能適當地整合以充分達到高效率之彈性自動化，更須值得研究。在本篇論文中，我們首先針對機器人組裝自動化之控制系統架構提出了一個物件導向模型，再將其推展至事件驅動自動化系統模型；根據此種模型，我們進一步提出藉助EDAKclasslib所發展之系統化步驟來協助使用者簡易地建立任意事件驅動自動化系統，除此目的外，另可使設計師能輕易地擴充現有之系統規模或將同由EDAK控制系統所支持的數個事件驅動自動化系統加以整合。
• 英文摘要： An Intelligent automated robotic assembly system consists of several subsystems capable of pro-viding dynamic interaction with the environment in order to accomplish a task properly. These subsystemsperform various functions like data gathering, decision making, and task execution. Although a greatdeal of work has been done on individual subsystems, more attention must be given to the way in whichthese subsystems are integrated so as to achieve high efficiency in assembly automation. In this paper,we propose an object-oriented model for a control system architecture of robotic assembly automationand extend this model to an all event driven automation kernel. Based on this model, we develop a systematicprocedure by means of EDAK classlib (Event Driven Automation Kernel Class Library) to enable usersto easily implement any event driven automation system. A by-product is that system designers can easilyexpand an existing system or integrate several event driven automation systems which are all supportedby the EDAK control system.
• 中文關鍵字： event driven; flexible automation; control kernel; flexible assembly
• 英文關鍵字： --