臺灣博碩士論文加值系統

本論文研究使移動式機械臂在居家環境中規劃其對特定物體之抓取路徑的方法，使之移動至目標物時更能成功抓取。因為機器人的手臂有其工作範圍限制，當機器人前往目標物進行抓取時，若目標物在此範圍之外將導致抓取失敗。同時，機器人在環境中移動時產生的誤差同樣影響抓取的成敗。因此，為了提高抓取的成功率，本論文先計算出可抓取性地圖─藉由機率來描述機器人手臂在工作範圍內抓取的成功率；再計算出移動可達性地圖─機器人在環境中移動的難易度，同樣以機率表示。透過可抓取性與可達性地圖的結合，機器人可以決定一個移動最容易、抓取成功率最高的抓取位置。本論文以實驗室之雙臂機器人，對三種情境進行實驗，驗證機器人在此系統下更有效率地進行移動式抓取的任務。

In this thesis, a system is designed and experimented for efficient mobile manipulation of a dual-arm robot. Because of limited workspace of the robot arm, robot grasping may fail if the target object is outside the workspace. At the same time, navigation errors also affect the grasping as the robot needs to move toward the target object. In this thesis, we construct a graspability map to describe the possibility of successful grasping inside workspace of the robot arm and we also construct a reachability map to describe the feasibility the robot can navigate to the target. These two maps are integrated to determine the robot location for grasping the target object. Using a laboratory dual-arm robot, we conducted three experiments in different conditions to verify the efficiency of mobile manipulation task using the proposed method.

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vi
表目錄 viii
第一章 緒論 1
1.1 研究動機 1
1.2 相關文獻回顧 1
1.3 問題描述 10
1.4 系統架構 11
1.5 章節說明 12
第二章 移動式機械臂系統 13
2.1 全向移動平台 13
2.2 環境地圖建立與定位 14
2.2.1 移動平台運動模型 16
2.2.2 特徵點觀測模型 17
2.2.3 EKF演算法 19
2.3 六自由度機械臂 20
2.4 機械臂之運動學 21
2.5 討論 25
第三章 移動式機械臂之抓取規劃 26
3.1 可抓取性地圖 26
3.2 可達性地圖 29
3.3 抓取與移動之整合規劃 32
3.4 機器人運動規劃 33
第四章 實驗結果 35
4.1 實驗一：目標物位置不同時之抓取規劃 35
4.2 實驗二：障礙物對機器人抓取規劃所影響 41
4.3 實驗三：障礙物對機器人抓取朝向之影響 48
4.4 討論 54
第五章 結論與未來展望 55
5.1 結論 55
5.2 未來展望 56
參考文獻 57

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