Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8404
標題: 雙手臂居家服務機器人之行為模式導航與任務執行
Behavior-Based Navigation and Task Execution of a Home-Service Robot with Two Arms
作者: 陳金成
Chen, Chin-Cheng
關鍵字: two arms;雙手臂;behavior;行為
出版社: 電機工程學系所
引用: [1] R. C. Arkin, Behavior-based robotics, The MIT Press, London, England, 1998. [2] R. A. Brooks, “Robust layered control system for a mobile robot,”IEEE J. of Robotics and Automation, Vol. 2, No.1, pp. 14-23, 1986. [3] M. J. Mataric, “Behavior-based control: examples from navigation, learning, and group,” Journal on Experimental and Theoretical Artificial Intelligence, Special Issue on Software Architecture for Physical Agents, Vol. 9, No. 2-3, Hexmor, Horswill, and Kortenkamp, pp. 1-15, 1997. [4] A. Saffiotti, “The uses of fuzzy logic in autonomous robot navigation,” Soft Computing, Vol. 1, Springer-Verlag, pp. 180-197, 1997. [5] P. Pirjanian, “Behavior coordination mechanisms: state-of-the-art,” Tech-report IRIS-99-375, Institute for Robotics and Intelligent Systems, School of Engineering, University of Southern California, October, pp. 1-49,1999. [6] F. Hoffmann, “An overview on soft computing in behavior based robotics,” Proc. on Int'l Fuzzy System Association World Congress IFSA , pp. 544-551, 2003. [7] 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. [8] D. H. Eberly, 3D game engine design, Morgan Kaufmann, 2001. [9] L. Wang and C. Chen, “A combined optimization method for solving the inverse kinematics problem of mechanical manipulators,” IEEE Transactions on Robotics & Applications, Vol. 7, No. 4, pp. 489-499, 1991. [10] C. Welman, Inverse kinematics and geometric constraints for articulated figure manipulation, Master of Science Thesis, School of Computing Science, Simon Fraser University, 1993. [11] J. Korein, Geometric investigation of reach, Ph.D. thesis, University of Pennsylvania, 1985. [12] J.Zhao and N. I. Badler, “Inverse kinematics positioning using nonlinear programming for highly articulated figures,” ACM Transactions on Graphics 13 (4) , pp. 313-336, 1994. [13] X. Zhao, Kinematic control of human postures for task simulation, PhD thesis, CIS, University of Pennsylvania, 1996. [14] D. Tolani, A. Goswami and N. I. Badler, “Real-time inverse kinematics techniques for anthropomorphic limbs,” Graphical Models 62, pp. 353-388, 2000. [15] J. Lee and S. Y. Shin, “A hierarchical approach to interactive motion editing for human-like figures,” Proceedings of SIGGRAPH 99, pp. 39-48, 1999. [16] C. M. Chen, System design and implementation of a home-service robot, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2007. [17] H. Zghal, R. V. Dubey, and J. A. Euler, “Collision avoidance of a multiple degree of redundancy manipulator operating through a window,” Journal of Dynamic System and Measurement and Control, vol. 114, pp. 7171-7211, 1992. [18] C. Samson, M. L. Borgne, and B. Espiau, Robot control: the task function approach, Oxford Science Publications, 1990. [19] L. T. Chen, Moving Object Recognition By Contour-Based Neural Fuzzy Network, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2004. [20] Z. Doulgeri, and J. Peltekis, “Modeling and dual arm manipulation of a flexible object,” IEEE international conference on Robotics and Automation, ICRA 2004, pp. 1700-1705, April 2004.
摘要: 
本論文旨在針對一機器雙手臂結合全方位運動平台的居家服務機器人,研製該機器人的物體之影像測距、雙手臂設計、行為模式導航設計及其七軸雙手臂之前向運動學和反運動學的推導與模擬。文中,雙手臂的機構設計被詳細描述以及深度影像方法被用來進行估測物體之位置與距離。為了實現居家服務機器人能在室內未知環境內能有快速的反應能力,本文提出雷射方向權重與FKCN架構設計出行為模式導航。本文建立雙手臂之七自由度空間的前向運動學模型,在已知各軸角度可計算出機械手末端的位置。基於此模型,推導出描述機械手末端的運動速度與各關節運動關係式的Jacobian矩陣來解決多冗度問題的同時,並且可以考慮限制條件如物體碰撞或關節角度限制,來得到各軸的角度。電腦模擬與全方位平台導航實驗的成效,來檢驗所提出方法之可行性與有效性。

This thesis presents methodologies and techniques for system design, object distance calculation, behavior-based navigation, forward and inverse kinematics of a home-service robot with two seven-degrees-of-freedom arms and one three-wheeled omnidirectional mobile platform. The mechanical structure of the dual arms is described as well, and depth images are employed to determine the distances between objects and a stereo vision system. A fuzzy-Kohonen clustering network (FKCN) with laser directional weights is proposed to navigate the robot, in order to have fast responses in an unknown indoor flat environment; this navigation method is then implemented and tested on the home service robot. A kinematics model of the dual arms is derived for find the resultant postures of two effectors on the two arms if all joint angles are known. To cope with the inverse kinematics of the dual-arm, a Jacobian matrix related to the motion rates of the end effectors and the rotation rates of all joints is developed to solve for the redundancy problem of the dual arms by incorporating two constraints for obstacle avoidance and joint limit constrains. Computer simulations and experimental results are conducted to verify the feasibility and efficacy of the proposed methods.
URI: http://hdl.handle.net/11455/8404
其他識別: U0005-3107200810341700
Appears in Collections:電機工程學系所

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