Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/9163
標題: 具力及3D感測之雙手臂機器人之混合位置、姿態及力控制
Hybrid Position, Posture and Force Control of a Two-Armed Robot with Force Sensing and 3D Perception
作者: 鄧博仁
Deng, Po-Jen
關鍵字: 六軸力感測器
six-axial force sensors
影像及深度攝影機
雙手臂
mesa
dual arm
出版社: 電機工程學系所
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摘要: 本論文提出了對於擬人型有一雙七個自由度的雙手臂機器人之混合位置、姿態、以及力的控制方法。此手臂具有兩個六軸力感測器,一台Kinect攝影機以及一個三維ToF攝影機。兩個六軸力感測器是安裝在手腕用來量測當機器人碰觸到物體時的力,Kinect攝影機以及三維飛時測距(ToF)攝影機是一起結合應用來辨識物體的種類以及被抓取物件之位置與姿態。對於快速位置與姿態控制而言,一可解析式逆向運動學方法結合軌跡規劃與PIV關節位置與速度追蹤控制器被用以驅動雙手臂從起點至終點鄰近區域,然後使用結合修正阻尼最小平方法之Jacobian逆向運動方法結合一簡單的P控制器與PI關節速度控制器來驅動雙手臂系統達成快速移動雙手臂之控制目標。一個伴隨使用交換矩陣的PID控制架構是被提出用以達成混合位置、姿態及力控制。許多電腦模擬成果例證所提方法的效用性能與技術特點。
This thesis presents a hybrid position, posture and force control method for an anthropomorphous dual-arm robot with seven degrees-of-freedom arms, two six-axial force sensors, Kinect sensor and one three-dimensional ToF (time-of-flight) camera. The two six-axial force sensors are installed at the wrists and used to measure the forces while the robot are contacting with objects. The Kinect sensor and the three-dimensional ToF camera are employed together to recognize category and position of any object to be grasped. An analytical inverse kinematic method together with a trajectory planner and PIV joint controllers is proposed to bring the dual arms to the neighborhood of the destination position and posture, and then a Jacobian inverse kinematic method along with a P controller and PI speed joint controllers is used to quickly achieve simultaneous position and posture control with an acceptable accuracy. A PID-based control architecture with a switching matrix is proposed to achieve hybrid position, posture and force control. The effectiveness and merit of the proposed control method are well exemplified by conducting several simulations on the anthropomorphous dual-arm robot.
URI: http://hdl.handle.net/11455/9163
其他識別: U0005-2208201311382600
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2208201311382600
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