跳到主要內容

臺灣博碩士論文加值系統

(3.235.60.144) 您好!臺灣時間:2021/07/27 00:09
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

我願授權國圖
: 
twitterline
研究生:梁婷婷
研究生(外文):Ting-Ting Liang
論文名稱:立體視覺雙手臂機器人之自主任務執行
論文名稱(外文):Autonomous Task Execution of a Two-Armed Robot with Stereo Vision Camera
指導教授:蔡清池
指導教授(外文):Ching-Chih Tsai
學位類別:碩士
校院名稱:國立中興大學
系所名稱:電機工程學系所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2010
畢業學年度:98
語文別:英文
論文頁數:87
中文關鍵詞:立體視覺雙手臂機器人自主任務執行
外文關鍵詞:Stereo Vision CameraTwo-Armed RobotAutonomous Task Execution
相關次數:
  • 被引用被引用:1
  • 點閱點閱:264
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本論文主旨在發展立體視覺雙手臂機器人之立體視覺系統設計、運動控制、軌跡規劃和自主任務執行。本論文採用模組化方法與可程式系統晶片化 (SoPC) 控制器技術來設計與實現立體視覺系統的運動控制,推導雙手臂之修正型姿態解角器與應用二次均勻雲曲線得到平滑的雙手臂運動軌跡,再利用比例-積分-速度 ( PIV ) 控制器與梯形速度控制方法達成上述所規劃之平滑運動軌跡之追蹤控制。最後結合雙手臂與立體視覺系統的物件辨識與目標位置估測之自主任務執行演算法被提出。以一個泡咖啡實驗為例,來驗證該自主任務法則之可行性與實用性。

This thesis presents techniques for system design, attitude determination algorithm, smooth motion control, and autonomous task execution of a two-armed robot with stereo vision camera. The modular mechatronic method and the system-on-a-programmable-chip (SoPC) technology are used to design and implement a robotic head motion control module with a stereo vision system. An attitude determination algorithm and the quadratic uniform B-spline curve method are combined together to obtain smooth trajectories for the motions of the dual arms, and then the PIV controller along with pre-specified trapezoidal velocity profiles are employed to track the planned motion trajectories. A novel algorithm of autonomous task execution is presented by incorporating with object recognition and position estimation capabilities of the stereo vision system. An autonomous coffee making experiment is conducted to show the effectiveness and performance of the proposed algorithm of autonomous task execution.

中文摘要 i
Abstract ii
List of Figures vi
List of Acronyms xii
Chapter 1 Introduction 1
1.1 Introduction 1
1.2 Literature Survey 2
1.3 Motivation and Objectives 4
1.4 Main Contributions 5
1.5 Thesis Organization 6
Chapter 2 System Design 7
2.1 Introduction 7
2.2 Review of Mechatronic Structures of the Two Arms and Hands 9
2.2.1 Specifications of the Dual Arms and Hands 9
2.3 Design of the Robotic Head System 12
2.3.1 Motor Driving Modules 13
2.4 FPGA Implementation of the Head Motion Controller via Nios II Development Board 18
2.4.1 Nios II Development Board 18
2.4.2 QEP, PWM and ADC Circuitry 20
2.4.3 Design of Digital Logic Circuit 22
2.5 Stereo Vision Camera System 23
2.5.1 Stereo Vision 25
2.5.2 Establishing Correspondence 27
2.5.3 Distances Calculation 27
2.5.4 Depth Image Generation 28
2.6 Concluding Remarks 31
Chapter 3 Trajectory Planning and Motion Control for the Dual Arms and Hands 33
3.1 Introduction 33
3.2 Forward kinematics 34
3.3 Attitude Determination Algorithm of One Arm and Hand 38
3.3.1 Attitude Determination Algorithm 40
3.3.2 Simulation Results and Discussion 49
3.4 Motion Control 49
3.4.1 PIV control 50
3.4.2 Quadratic Uniform B-spline Curve 52
3.4.3 Trapezoid Velocity Trajectory 54
3.5 Experiments: Trajectory Planning 55
3.6 Concluding Remarks 58
Chapter 4 Autonomous Task Execution: An Application to Coffee Making 60
4.1 Introduction 60
4.2 General Procedure for Autonomous Task Execution 61
4.3 Object Recognition for Coffee Making 65
4.4 Task Execution with Dual-Arm Cooperation 66
4.5 Coordinate Transformation of the Head Motion Module 69
4.5.1 Coordinate Transformation from the Object to the Right Camera 69
4.5.2 Coordinate Transformation from the Right Camera to the Robot 72
4.5.3 Simulation Results and Discussion 73
4.6 Coffee Making 74
4.6.1 Objects in Coffee Making Experiment 74
4.6.2 Procedure of Coffee Making 74
4.6.3 Experimental Results and Discussion 76
4.7 Concluding Remarks 80
Chapter 5 Conclusions and Future Work 81
5.1 Conclusions 81
5.2 Future Work 82
References 84



[1]C. Borst, C. Ott, T Wimbock, B.Brunner, F. Zacharias, B.Bauml, U.Hillenbrand, S.Haddadin, A. Albu-Schaffer, G. Hirzinger, “A humanoid upper body system for two-handed manipulation,” in Proc. of IEEE Int. Conference on Robotics and Automation, pp. 2766-2767, April 2007.
[2]K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka,“The development of Honda humanoid robot,” in Proc. of IEEE International Conference on Robotics and Automation, pp. 1321-1326, 1998.
[3]Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, “The intelligent ASIMO: System overview and integration,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2478–2483, 2002.
[4]H.Iwata, S.Kobashi, T.Aono, T.Kobayashi and S.Sugano, “Design of 4-DOF Anthropomorphic Tactile Interaction Manipulator with Passive Joint,” in Proc. of IEEE International Conference on Intelligent Robots and System, pp.1785-1790, 2005.
[5]R. Beira, M. Lopes, M. Praga, J. Santos-Victor, A. Bernardino, G. Metta, F. Becchi, R. Saltaren, “Design of the Robot-Cub (iCub) Head,” in Proc. of IEEE international conference on Robotics and Automation, pp. 94-100, 2006.
[6]I. W. Park, J. Y. Kim, J. Lee, and J. H. Oh, “Mechanical Design of Humanoid Robot Platform KHR-3 (KAIST Humanoid Robot – 3: HUBO),” in Proc. IEEE-RAS Int. Conference on Humanoid Robots, pp. 321-326, 2005
[7]T. Morita, H. Iwata, and S. Sugano, “Development of human symbiotic robot: WENDY,” in Proc. of IEEE International Conference on Robotics and Automation, pp. 3183–3188, 1999.
[8]K. Kaneko, K. Harada, F. Kanehiro, “Humanoid Robot HRP-3,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2471 – 2478, 2008.
[9]K. W. Chin, Closed-form and generalized inverse kinematic solutions for animating the human articulated structure, Bachelor''s Thesis in Computer Science, Curtin University of Technology, 1996.
[10]J. Korein, Geometric investigation of reach, Ph.D. dissertation, University of Pennsylvania, 1985.
[11]J.Zhao and N. I. Badler, “Inverse kinematics positioning using nonlinear programming for highly articulated figures,” ACM Transactions on Graphics, vol. 13, no.4, pp. 313-336, 1994.
[12]X. Zhao, Kinematic control of human postures for task simulation, Ph.D thesis, CIS, University of Pennsylvania, 1996.
[13]D. Tolani, A. Goswami and N. I. Badler, “Real-time inverse kinematics techniques for anthropomorphic limbs,” Graphical Models, vol.62, pp. 353-388, 2000.
[14]J. Lee and S. Y. Shin, “A hierarchical approach to interactive motion editing for human-like figures,” Proc. of SIGGRAPH 99, pp. 39-48, 1999.
[15]Morasso, “Spatial control of arm movement,” Experimental Brain Research, vol. 42, pp.233-227, 1981.
[16]T. Flash and N. Hogan, “The coordination of arm movements; An experimentally confirmed mathematical model,” Journal of Neuroscience, vol.5, pp.1688-1703, 1985.
[17]Y. Uno, M. Kawato and R. Suzuki, “Formation and control of optimal trajectory in human multi-joint arm movement,” Biological Cybernetics, vol.61, pp.89-101, 1989.
[18]Y. Wada, M. Kawato and R. Suzuki, “Formation and control of optimal trajectory in human arm movement-minimum torque-change model,” Biological Cybernetics, Vol.61, pp.89-101, 1989.
[19]H. Kim, G. York, G. Burton, E. Murphy-Chutorian, J. Triesch, “Design of an Anthropomorphic Robot Head for Studying Autonomous Development and Learning,” in Proc. of IEEE international conference on Robotics and Automation, vol.4, pp. 3506-3511, 2004.
[20]Y. S. Wang, Mechatronic Design, Motion Planning and Cooperation of an Anthropomorphous Two-Armed Robot, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2009.
[21]C. C. Tsai, Y. S. Wang, Y. Y. Li, F. C. Tai, “Motion Planning and Cooperation of an Anthropomorphous Two-Armed Robot,” Proceedings of 2009 CACS International Automatic Control Conference, Taipei, Taiwan, Nov. 27-29, 2009.
[22]C. C. Tsai, Y. S. Wang, Y. Y. Li, “Design and Implementation of an Anthropomorphous Two-Armed Robot with Multiple Task Applications,” Proc. of 2009 International Conference on Service and Interactive Robots, Taipei, Taiwan, August 6-7, 2009.
[23]C. C. Tsai, T. T. Liang, Y. Y. Li, “Trajectory Planning and Motion Control of a Two-Armed Robot,” Proc. of the SICE Annual Conference 2010, Taipei, Taiwan, August 2010.
[24]C. C. Tsai, Y. S. Wang, Y. Y. Li, F. C. Tai, “Cooperation and Task Execution of an Anthropomorphous Two-Armed Robot: an Application to Coffee Making,” Proc. of the 2010 International Conference on System Science and Engineering, Taipei, Taiwan, July 2010.
[25]R. M. , R. M. Kossey, “Closed-Loop Control of a Manipulator Arm Using a Wrist Force Sensor,” IEEE Transactions on Industrial Electronics, vol. IE-34, pp. 371 - 378, 1987.
[26]H. Kawasaki, T. Mouri, “Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand,” IEEE Transactions on Robotics, vol. 23, no.5, pp. 909 - 918, October 2007.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top