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研究生:陳民達
研究生(外文):Min-da Chen
論文名稱:六足機器人之視覺伺服軌跡追蹤與避障
論文名稱(外文):VISUAL SERVO PATH TRACKING AND OBSTACLE AVOIDANCE FOR THE HEXAPOD ROBOT
指導教授:游文雄
指導教授(外文):Wen-shyong Yu
口試委員:游文雄
口試委員(外文):Wen-shyong Yu
口試日期:2015-07-30
學位類別:碩士
校院名稱:大同大學
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:2015
畢業學年度:103
語文別:英文
論文頁數:57
中文關鍵詞:逆運動學視覺追隨暨避障伺服控制六足機器人影像避障路徑追蹤
外文關鍵詞:path trackingobstacle avoidancevisual servo controlinverse kinematicshexapod robot
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  • 被引用被引用:1
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本論文提出視覺追隨暨避障伺服控制系統來控制六足機器人。
此控制系統包含兩個部分,分別是視覺系統及伺服控制系統,其中伺服控制系統包刮比例式模糊控制及順逆運動學轉換系統。
視覺系統利用動態影像辨識系統作回授捕捉環境影像以判斷是否為追蹤或障礙物體。
在影像辨識系統,我們使用OpenCV將連續的動態影像作灰階二值化並計算追蹤或障礙物體面積比例,利用其面積大小判斷是否為障礙物,並且運算其面積變化對應出實際距離。
之後,再以伺服控制系統結合逆運動學計算實現六足機器人之運動控制實現六足機器人藉由視覺伺服控制達到物件追蹤和避障後持續回到原指定軌跡繼續前進。
最後,我們藉由六足機器人的實驗來驗證本文所提出的視覺追隨暨避障伺服控制系統的正確性及有效性。
This thesis proposes a visual following/avoidance servo control system for hexapod robots.
The control system consists of two parts: visual system and servo control system, where the servo control system comprises of proportional fuzzy control and coordinate transformation with kinematics and inverse kinematics.
The visual system captures the images from environment and then recognize if target/obstacle exists.
In the image recognition, we use OpenCV to make serial motion pictures as grayscale and binarization and calculate the ratio of the object/obstacle area.
By using the ratio of the object area in the image, we can determine whether it is an obstacle or not, as well as the actual distance by calculation of the corresponding object area changing.
After image recognition processing to identify the distance and area of the object or obstacle ahead, the servo control system for hexapod robot with inverse kinematics calculations is proposed for trajectory tracking to follow the specified object and obstacle avoidance to continue approaching specified trajectory.
Finally, experiments for the hexapod robot are used to show the validation and effectiveness of the proposed servo control scheme.
ACKNOWLEDGEMENTS I
ABSTRACT (IN ENGLISH) I
ABSTRACT (IN CHINESE) II
TABLES OF CONTENTS III
LIST OF FIGURES IV
LIST OF TABLES V
1 INTRODUCTION 1
1.1 Background and Motivation 1
1.2 Review of the Literature 2
1.3 Overview of the Research System 3
1.4 Structure of the Thesis 4
2 DESCRIPTION OF THE SYSTEMCONSTRUCTION AND HARDWARE
5
2.1 Schematic diagram of our system 6
2.2 Body Apparatus and Control Board 8
2.2.1 Body Architecture 8
2.2.2 Microcontroller (HBE-KROBO) 9
2.2.3 Servo Controller (Mini Maestro Polulu) 11
2.2.4 DC Servos (Hitec) 13
2.2.5 Image Sensor (Charge Coupled Device, CCD) 15
3 MODELING OF THE HEXAPOD ROBOTIC SYSTEMAND KINEMATICS
DERIVATION 16
3.1 Robot Leg Parameters 17
3.2 Inverse Kinematics 18
4 EXPERIMENTAL RESULTS 28
4.1 Forward Movement Experiments 36
4.2 Rotary Movement Experiments 37
4.3 Circular Movement Experiments 38
4.4 Visual Obstacle Avoidance Experiments 39
5 CONCLUSIONS 45
REFERENCES 46
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