臺灣博碩士論文加值系統

儘管科技快速的進步，對人類而言仍存在著許多危險的環境或人類無法完全接近的地方，例如核電廠中危險的區域和具爆炸性的環境。縱然機器人科技已有長足的進步，但機器人系統仍無法在某些環境下完全自主地執行任務。遠端靈巧操作系統是結合機器人科技與人類多功特性的一個實用方法，操作者可藉由穿戴機械式手套並透過回饋感測器的資訊來操作遠端的機械手。這樣的系統可將人類的感知能力、判斷力和靈巧性實現於易碎物體的精準操作任務中，然而更可讓操作者身處安全和方便的環境中控制機械手。本論文的目標主要在提昇一透過網路並以虛擬實境為基礎的遠端靈巧操作系統的雙向控制方法。
本文中首先建構了一遠端靈巧操作系統。遠端靈巧操作系統的發展主要在近端結合機械式手套與虛擬場景，在遠端則結合多手指之機械手與視覺系統。藉由遠端視覺系統所回饋的視覺資訊與虛擬實境技術可提供操作者視覺上的回饋與減少資料的傳輸量，因此虛擬的遠端感覺可被在近端呈現。然後，由於帶驅動系統的模型不確定性，本文提出了模糊滑動控制理論作為系統的力量與位置控制器。藉穿戴機械式手套，機械手經由位置控制器將可跟隨著操作者的手部運動。當機械手與外界環境接觸時，接觸力透過力量控制器回饋至操作者。
最後，以實驗驗證了本文所推導的以模糊滑動理論為基礎的位置控制器和力量控制器。

Despite rapid advances in science and technology, there are still environments that may be hazardous or inaccessible to humans, such as dangerous rooms in a nuclear plant and areas near explosives. Also, robotic systems in the same environments are unable to perform tasks autonomously, although there are great achievements in robot technology. The dexterous telerobotic systems, by which a human operator can enslave a remote mechanical hand using a hand master according to information from feedback sensors, are a practical way to combine robot technology with human versatility. Such a system can bring a human operator’s perception, judgment and dexterity to a task involving precise manipulation of delicate objects, while allowing the operator to control the mechanical hand from a position of safety and convenience. The objective of this thesis is to advance the bilateral control method of the VR-based dexterous telerobotic system operated through the Internet.
A dexterous telerobotic system is first constructed in this thesis. The developed dexterous telerobotic system is mainly composed of a hand master and a virtual environment in local site, and a multifingered mechanical hand and a vision system in remote site. A virtual scene of the remote site is created in local site by visual information provided by the vision system in remote site and Virtual Reality (VR) technique, to support the operator with visual information and reduce the amount of transmitted data. A fuzzy sliding mode control algorithm is then proposed for the force and position control of the system due to the model uncertainties of the tendon-driven system. Using the hand master, the mechanical hand can be controlled to follow the operator’s hand motion by using the proposed position controller. When the mechanical hand contacts with the environment, the contact force is fed back to the operator by using the proposed force controller.
Finally, the theoretical derivations for the position and force controllers based on the proposed fuzzy sliding algorithm are experimentally verified.

中文摘要i
英文摘要ii
誌謝iii
目錄iv
表目錄vi
圖目錄vii
第一章 緒論 1
1.1前言 1
1.2研究動機與目的 2
1.3文獻回顧 2
1.4貢獻 3
1.5本文架構 4
第二章機械式手套與機械手指之控制架構 5
2.1鋼索張力控制器 5
2.1.1力矩解析法 6
2.1.2鋼索張力控制器 7
2.2機械式手套控制架構 8
2.3機械手指控制架構 10
2.4整合機械式手套與機械手指 12
第三章系統架構 21
3.1機械式手套硬體架構 21
3.2機械手指硬體架構 22
3.3遠端操作系統硬體架構 23
第四章電腦視覺與虛擬實境 31
4.1攝影機模型 31
4.2特徵萃取 32
4.3虛擬實境 34
第五章實驗結果 40
5.1機械式手套與機械手指之性能測試 40
5.1.1機械式手套之力量控制器 40
5.1.2機械手指之位置控制器 41
5.2自由空間遠端靈巧操作 41
5.3拘束空間遠端靈巧操作 43
5.4實驗結果與討論 43
第六章 結論 52
6.1結論 52
6.2未來展望 52
參考文獻 54
自述 57

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