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Autonomous Task Execution of a Two-Armed Robot with Stereo Vision Camera
|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||引用:|| C. Borst, C. Ott, T Wimbock, B.Brunner, F. Zacharias, B.Bauml, U.Hillenbrand, S.Haddadin, A. Albu-Schaffer, G. Hirzinger, “A humanoid upper body system for two-handed manipulation,” in Proc. of IEEE Int. Conference on Robotics and Automation, pp. 2766-2767, April 2007.  K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka,“The development of Honda humanoid robot,” in Proc. of IEEE International Conference on Robotics and Automation, pp. 1321-1326, 1998.  Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, “The intelligent ASIMO: System overview and integration,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2478-2483, 2002.  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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.  R. M. , R. M. Kossey, “Closed-Loop Control of a Manipulator Arm Using a Wrist Force Sensor,” IEEE Transactions on Industrial Electronics, vol. IE-34, pp. 371 - 378, 1987.  H. Kawasaki, T. Mouri, “Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand,” IEEE Transactions on Robotics, vol. 23, no.5, pp. 909 - 918, October 2007.||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.
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