Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8794
標題: 立體視覺雙手臂機器人之自主任務執行
Autonomous Task Execution of a Two-Armed Robot with Stereo Vision Camera
作者: 梁婷婷
Liang, Ting-Ting
關鍵字: Stereo Vision Camera
立體視覺
Two-Armed Robot
Autonomous Task Execution
雙手臂機器人
自主任務執行
出版社: 電機工程學系所
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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. 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摘要: 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.
URI: http://hdl.handle.net/11455/8794
其他識別: U0005-1008201020365600
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-1008201020365600
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