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研究生:陳權政
研究生(外文):CHEN,CYUAN-CHENG
論文名稱:機器人通訊與交流協作系統
論文名稱(外文):Robotic Cooperation and Communication Control System
指導教授:吳宏偉
指導教授(外文):WU,HUNG-WEI
口試委員:王建仁程榮祥
口試委員(外文):WANG,CHIEN-JENCHENG,RUNG-SHIANG
口試日期:2019-06-25
學位類別:碩士
校院名稱:崑山科技大學
系所名稱:電腦與通訊研究所
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:2019
畢業學年度:107
語文別:中文
論文頁數:30
中文關鍵詞:物聯網掃地機器人機械手臂機器人控制交流溝通iRobot
外文關鍵詞:IoTsweeping robotrobot armrobot controlrobot communicationiRobot
相關次數:
  • 被引用被引用:0
  • 點閱點閱:112
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  • 下載下載:2
  • 收藏至我的研究室書目清單書目收藏:1
近幾年來機器人與物聯網盛行,機器人與物聯網也開始慢慢進入智慧家庭的相關應用中,為了滿足家庭應用上的各種要求,出現了各種居家型機器人與物聯網家電加入日常生活之中,而這些家事機器人普遍都是獨立個體,具備聯網的機器人最多是能用手機APP控制或能觀看機器人的資料狀況,各個機器人都只能獨立運作,無法進行溝通交流,因為物聯網意味著全面性的整合的概念。本研究使用機器人iRobot Create2與機械手臂YASKAWA DX100為基礎,發展智慧機器人控制與交流之研究,開發一套可以控制機器人並讓他們可以交流的系統,該系統能使不同種類的機器人也能做額外的控制並讓它們協作,以此測試機器人更多的可行性與發展性。

In recent years, robots and the Internet of Things have become popular, and robots and the IoT have begun to slowly enter the relevant applications of smart homes. In order to meet various requirements in home applications, various home-based robots and IOT appliances have emerged into daily life. These family robots are generally independent individual goods. The networked robots can control or view the robot's data status at the most. The robots can only operate independently and cannot communicate, because the Internet of Things means comprehensive. Sexual integration, this study uses iRobot Create2 and YASKAWA DX100 as the basis for the development of intelligent robot control and communication research, and testing feasibility and development.

頁數
中文摘要 --------------------------------------------------------------- i
英文摘要 --------------------------------------------------------------- ii
誌謝 ---------------------------------------------------------------------iii
目錄 --------------------------------------------------------------------- iv
表目錄 ------------------------------------------------------------------ vi
圖目錄 ------------------------------------------------------------------ vii
一、 緒論--------------------------------------------------------------- 1
1.1 系統元件----------------------------------------------------------- 2
1.1.1 Raspberry Pi--------------------------------------------------- 2
1.1.2 iRobot Create2------------------------------------------------ 3
1.1.3 機械手臂--------------------------------------------------------- 3
1.1.4 Rplidar----------------------------------------------------------- 6
二、 相關研究--------------------------------------------------------- 7
2.1機器人路徑規劃之研究----------------------------------------- 7
2.2機器人定位之研究------------------------------------------------ 7
三、 研究步驟與系統實作----------------------------------------- 9
3.1 掃地機器人行動測試------------------------------------------ 11
3.2 機械手臂控制--------------------------------------------------- 11
3.3 機械手臂動作測試--------------------------------------------- 13
3.3.1 機械手臂動作之目的----------------------------------------- 15
3.4 Socket通訊研究------------------------------------------------ 15
3.4.1 Socket通訊之結果------------------------------------------- 17
3.5 掃地機器人定位------------------------------------------------ 17
3.5.1 雷射測距-------------------------------------------------------- 17
3.5.2 雷射數值顯示與儲存----------------------------------------- 18
3.5.3 圖形判斷定位-------------------------------------------------- 19
3.6 方法與結果------------------------------------------------------ 20
3.6.1 系統與控制方法----------------------------------------------- 20
3.6.2 機器人之研究與設計----------------------------------------- 21
3.6.3 掃地機器人之腳本規劃-------------------------------------- 21
3.6.4 動作流程規劃-------------------------------------------------- 23
四、 實驗結果-------------------------------------------------------- 24
4.1 Python2控制掃地機器人之模式---------------------------- 24
4.2 Python3控制掃地機器人之模式---------------------------- 25
4.3 機器人協力合作----------------------------------------------- 26
4.4 機器人通訊與交流協作系統網頁-------------------------- 27
五、 結論-------------------------------------------------------------- 28
參考文獻 --------------------------------------------------------------- 29



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[5]ZeynSaigol, Bram Ridder, Minlue Wang, Richard Dearden, Maria Fox, Nick Hawes, David M Lane, and Derek Long, “Efficient Search for Known Objects in Unknown Environments Using Autonomous Indoor Rpbpts”, In Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, IROS 2015. October 2015.
[6]Ashish U. Bokade and V. R. Ratnaparkhe, “Video Surveillance Robot Control usingSmartphone and Raspberry Pi”,International Conference on Communication and Signal Processing, April 6-8, 2016, India.
[7]Pei-Cheng Liu, “Industrial Robot Arm IoT Control and Receving System”, Department of Computer and Communication, Kun Shan University, June 2018.
[8]Jhe-Lin LI, ”Development of an indoor positioning platform for iRobot Create2”, Department of Computer and Communication, Kun Shan University, June 2018.
[9]Kai Wang, Ning Ding, Fuquan Dai, “A simple and parallel algorithm for robot position estimation by stereo visual-inertial sensor fusion”, 2017 IEEE International Conference on Robotics and Biomimetics(ROBIO), pp860-864, 5-8 Dec.2017.
[10]N.Ganganath, H.Leung, “Mobile robot localization using odometry and Kinect sensor”, IEEE Emerging Signal Processing Applicatons(ESPA) International Conference, 2012.
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[13]https://www.irobot.com/about-irobot/stem/create-2
[14]https://pypi.org/project/pycreate2/
[15]https://www.raspberrypi.org/

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