臺灣博碩士論文加值系統

　　儘管科技日新月異，人類本身對於許多環境如：核電廠中的某些空間、接近爆炸性物質之區域、外太空、深海等高危險性的地區，仍無法完全安全的接近。雖然人類在機器人技術方面已有很好的成績，但是於上述環境下，應用完全自主式機器人系統仍是困難重重，故長控機器人系統的發展就由此而生。此系統能整合機器人技術與人類技能，藉由遠端資訊回傳給近端的操作者，不但能讓操作者於安全且方便的地方操作遠端的僕機械手臂，且能將操作者的感覺、判斷與靈巧性完全融入僕機械手臂所執行的任務中。

　　本論文主要的目的，在於提升以虛擬實境為基礎並利用網際網路通訊的長控機器人系統雙向控制方法。於本研究中所使用的長控機器人系統主要包含有一個架設於近端的手控器，以及架設於遠端的一個雙眼機械頭和一個工業機械手臂。使用一個六軸力量反射式手控器，並配合智慧型阻抗控制架構，使得操作者能藉由手控器感受到遠端僕機械臂的接觸力，並提高操控性。而於視覺回授方面，透過遠端的雙眼機械頭所得到的影像資訊回傳及虛擬實境的技術，於近端建立一個遠端的虛擬場景，並依據遠端回傳的資訊來更新此虛擬場景，以提供操作者視覺的感受。針對雙眼機械頭控制上，使用一個以影像為基礎的看而後動控制架構，使其能於遠端操作的過程中，搜尋並鎖定目標物。而目標物的空間姿態則藉由立體視覺的方式計算其三維空間姿態，並將目標物空間姿態回傳以更新近端的虛擬場景。

　　最後，以實驗來驗證本文所建構的長控機器人系統性能，所做的實驗包含有自由空間之遠端操作以及遠端操作執行插梢工作。

　　Despite rapid advances in life-support technology, there are still many environments that may be hazardous or inaccessible to humans, such as dangerous rooms in a nuclear plant, areas near explosives, outer space, and under water. Also the application of fully-autonomous robotic systems in the same environments remains difficult or impractical in spite of advances in robot technology. Telerobotic systems, by which a human operator can enslave a remote robot manipulator using a hand controller 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, judgement, and dexterity to a task while allowing the operator to control the slave manipulator from a position of safety and convenience.

　　The objective of this thesis is to advance the bilateral control method of the VR-based telerobotic system operated through the Internet. The telerobotic system adopted in this study is mainly composed of a hand controller in local site, and a robotic binocular head and an industrial robot manipulator in remote site. A six-axis force-reflecting hand controller is used to make the operator feel the contact force in remote site and enhance the manipulation with the implementation of the proposed intelligent impedance control law. A virtual scene of the remote site is created in local site by the visual information provided by the binocular head in remote site and virtual reality (VR) technique to support the operator with visual information. One image-based look-and-move control strategy is proposed to enable the robotic head to saccade and fixate the target during the teleoperation. The pose of the target is then estimated by applying static stereo analysis to determine the three-dimensional information by a process called triangulation. The VR scene is created according to the pose information of the target.

　　Finally, the theoretical results are experimentally verified on the adopted telerobotic system. Specific experimental demonstrations include the unconstrained teleoperation and the peg-in-hole task to examine the performance of the system.

摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vii
圖目錄 viii
符號說明 xiv

第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 1
1.3 文獻回顧 2
1.4 貢獻 4
1.5 本文內容與架構 5

第二章 長控機器人系統之架構 6
2.1 系統性能要求 6
2.2 主控端子系統 9
2.2.1 手控器 9
2.2.2 虛擬實境 10
2.3 受控端子系統 11
2.3.1 雙眼機械頭 11
2.3.2 僕機械手臂 12
2.4 長控系統之通訊方式 13

第三章 影像處理與系統校正 21
3.1 色彩轉換 21
3.2 影像處理 22
3.3 攝影機校正 23
3.4 頭－手校正 25

第四章 主動視覺與虛擬實境 31
4.1 立體視覺 31
4.1.1 靜態立體視覺幾何 31
4.1.2 目標物的空間姿態 33
4.2 雙眼機械頭之視覺伺服控制 36
4.2.1 搜尋策略 36
4.2.2 凝視方法 37
4.3 虛擬實境的更新 39

第五章 智慧型阻抗控制 43
5.1 空間姿態表示法 43
5.2 目標阻抗參考軌跡 47
5.3 機械手臂動力學 48
5.4 類神經網路控制器 49
5.5 長控機器人系統控制架構 53

第六章 實驗 56
6.1 實驗設定與使用者操作界面 56
6.2 手控器之控制實驗 58
6.2.1 手控器軌跡追蹤實驗 58
6.2.2 手控器虛擬力模擬實驗 58
6.3 長控機器人系統之遠端操作 59
6.3.1 單向的自由空間操作 59
6.3.2 雙向的自由空間操作 59
6.4 視覺回授 60
6.4.1 攝影機校正及頭－手校正 60
6.4.2 雙眼機械頭控制 60
6.4.3 虛擬實境 62
6.5 整合實驗 62
6.5.1 實驗說明 62
6.5.2 實驗結果與討論 64

第七章 結論 132
7.1 結果與討論 132
7.1.1 手控器之控制 132
7.1.2 僕機械手臂之控制 133
7.1.3 視覺回授 133
7.1.4 插梢任務之影響因素 133
7.1.5 使用者操作界面 134
7.2 未來展望 134

參考文獻 136

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