臺灣博碩士論文加值系統

隨著機器人技術的日趨成熟，有許多應用都和機器人有關，機器人之研究著重在於增加生活的品質，而應用於服務型機器人的研究也為之不少，所以使用機器人來輔助老年人日常生活中的行動，讓老年人在行走時避免跌倒受傷，具有一定的可行性。
在本篇論文中，我們利用二軸力回饋操控器，以及建立一個模擬現實生活的虛擬場景和虛擬的行動輔助器，其中二軸力回饋操控器可幫助我們增加真實感以及即時互動。除此之外，搭配我們建立的智慧型力導引控制系統，設定老年人行走時可能會遇到的三種情況，以及改變行動輔助器的阻尼係數。我們觀察移動的過程中，行動輔助器所受力與力回饋的資訊。因為行動輔助器在機器與使用者具有高度密切的互動，藉由研究的分析結果，可以達到行動輔助器的穩定性與安全性，進而提供未來設計出良好的行動輔助器的重要依據。

With technology of the robot is becoming riper, there are many applications with the robot. Robot research is focused on improving the quality of life, and there are many researches of the service robot. The robots are used to assist the elderly in their daily activities that let the elderly avoid get hurt while walking, which have some feasibility.
In this thesis, we apply a 2-DOF force-feedback manipulator, and establish a virtual reality (VR) of actual life and a virtual walker, and a 2-DOF force-feedback manipulator can improve much reality and real-time interaction. Besides, we design the intelligent control system of guidance, and set up threes kind of situations that elder while walking, as well as change the damping coefficient of the walker. We observe the information of force feedback on walker during moving. The Walker has high correlation between the machine and user, with the analysis of the result of studying, which can approach the stability and safety. It will offer the important information of design the well walker in the future.

中文摘要 i
英文摘要 ii
致謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章 緒論 1
1.1 研究背景與目的 1
1.2論文架構 3
第二章 力導引控制系統分析 5
2.1 動態系統分析 5
2.2 力導引控制 7
2.3 防撞控制 11
第三章 模擬系統軟硬體建立 13
3.1 虛擬場景的建立 13
3.1.1 3D元件建立 14
3.1.2 動態場景建立 16
3.2 力回饋系統 20
第四章 實驗與模擬結果 24
4.1實驗設計 24
4.2模擬結果與討論 24
4.2.1平移運動 24
4.2.2轉彎運動 34
4.2.3防撞控制 51
第五章 結論 58
5.1 結論 58
5.2 未來工作 58
參考文獻 60

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