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Hybrid Position, Posture and Force Control of a Two-Armed Robot with Force Sensing and 3D Perception
|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||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.  Ogura Yu, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, Lim Hun-ok and A. Takanishi,“Development of a New Humanoid Robot WABIAN-2,” Proceedings of the ICRA Conference, pp.76-81, 2006.  R. Beira, M. Lopes, M. 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Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2010.  J.T. Lapresté ,F. Jurie, M. Dhome, F. Chaumette, “An Efficiet method to compute the inverse jacobian matrix in visual servoing, ”, LASMEA, UMR 6602 du CNRS,Université Blaise Pascal, 63177 Aubière Cedex, FranceIRISA/INRIA Rennes, Campus de Beaulieu, 35042 Rennes Cedex, France  C. C. Tsai, C. T. Chi, and Y. Y. Li, “Autonomous Vision-Guided Grasping and Manipulations of Anthropomorphous Dual-Arm Manipulators,” Proc. of 2012 International Automatic Control Conference, Huwei, Yunlin, Taiwan, Nov. 30-Dec. 2, 2012  C.-C. Tsai, Y.Y. Li ,T. T. Liang,, “Autonomous Task Execution Using Stereo Vision Camera for a Two-Armed Service Robot,” Proc. of 2011 International Conference on System Science and Engineering, Macau, June 8-10 2011.  C. T. Chi, Vision-Guided Grasping and Manipulations of a Two-Armed Robot Using Kinect, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2012.  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:||
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.
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