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博碩士論文 etd-0619117-152635 詳細資訊
Title page for etd-0619117-152635
論文名稱
Title
視覺伺服結合避障機制於機器人作業系統並實現於冗餘手臂
A Visual Servoing with Collision Avoidance Mechanism for Redundant Manipulators in Robot Operating System
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
72
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2017-07-18
繳交日期
Date of Submission
2017-07-19
關鍵字
Keywords
ROS、虛擬排斥力矩、冗餘機器手臂逆向運動學、ORB、視覺伺服
ROS, Virtual repulsive torque, ORB, Inverse kinematics of redundant manipulator, Visual servoing
統計
Statistics
本論文已被瀏覽 5672 次,被下載 78
The thesis/dissertation has been browsed 5672 times, has been downloaded 78 times.
中文摘要
本論文旨在提出一具冗餘軸之機器手臂視覺伺服方法,利用虛擬排斥力矩,在有障礙物抑或是無障礙物之環境,透過影像誤差進行快速且精準之伺服控制。本研究大致可分為兩部分,第一部分,以物體姿態為基礎之視覺伺服,另一為利用虛擬力矩規避障礙物。在第一部分視覺伺服中,首先將攝影機所得到的影像資訊,透過Oriented FAST and Rotated BRIEF特徵偵測獲取特徵點,並由事先建立好的模板影像與當下的影像進行運算得到特徵誤差,接著利用影像特徵誤差與當前的機械手臂姿態,估算目標物在世界座標中的位置與姿態,進而得到機械手臂末端軸的目標姿態與位置。第二部份,確定機械手臂末端軸的目標姿態後,導入了虛擬排斥力矩概念,透過數值和解析的混合方式求解逆向運動學,來提供冗餘機器手臂移動的角度,並利用機械手臂冗餘關節之特性,盡可能的與障礙物保持距離並達成目標。為驗證本論文所提出的方法,先利用Webots模擬軟體進行模擬實驗,其環境、設備與障礙物皆根據實際環境進行設定。本論文之實現平台為精密研究中心之七軸機器手臂與Basler攝影機,為了讓本研究在實際應用上更加便利,我們以機器人作業系統(Robot Operating System)為核心,並將各個程式轉化為節點,建立通訊協定並彼此傳遞訊息。
Abstract
This paper presents a visual servoing method for a redundant manipulator to be controlled fast and accurately by image error in obstacle or non-obstacle environment. The proposed approach combines two parts, one is position-based visual servoing, and and the other is avoiding obstacles by using virtual repulsive torque. In the part of visual servoing, the image features are found and mapped by Oriented FAST and Rotated BRIEF, and the image errors are calculated by the features of model image and current image. Furthermore, the object pose is estimated in the world coordinate by the image errors and the current pose of manipulator and compute the target pose of manipulator. After confirming the target pose, this approach introduces a virtual repulsive torque for solving generalized inverse kinematics problems by analytical and numerical methods. The proposed approach uses the property of redundant manipulator to maintain the distance between links and obstacles. This research implements at PMC 7-Axis manipulator and Basler camera. For the applicability, we use Robot Operating System as the core to build the communication protocol for exchanging information and transform the programs to the nodes. The validity and efficiency of the proposed method are measured in simulations on Webots and experiment on PMC 7-Axis manipulator.
目次 Table of Contents
論文審定書 i
致謝 ii
中文摘要 iii
Abstract iv
目錄 v
圖目錄 vii
表目錄 ix
第一章 緒論 1
1-1 研究動機與目的 1
1-2 論文架構 2
第二章 研究背景 3
2-1 視覺伺服 Visual Servoing 3
2-1-1 基於位置控制的視覺伺服(Position-Based Visual Servoing,PBVS) 3
2-1-2 基於影像控制的視覺伺服(Image-Based Visual Servoing,IBVS) 4
2-2 Oriented FAST and Rotated BRIEF, ORB 4
第三章 研究方法 7
3-1 虛擬排斥力矩 7
3-1-1 機器手臂連桿與障礙物的幾何模型 8
3-1-2 機器手臂連桿與障礙物間的排斥力矩 9
3-1-3 冗餘關節之逆向運動學 12
3-2 PBVS與虛擬排斥力矩整合之實作方法 20
3-3 系統架構 24
3-3-1 影像處理程式 24
3-3-2 下達手臂控制命令程式 24
3-3-3 ROS伺服端 27
3-3-4 ROS通訊問題處理 28
3-3-5 法蘭校正方法 31
第四章 實驗設計與分析 33
4-1 實驗環境 33
4-2 模擬實驗 34
4-2-1 模擬實驗設計 34
4-2-2 模擬實驗結果 38
4-3 實機實驗 50
4-3-1 實機實驗結果 51
第五章 結論與未來展望 59
參考文獻 60
參考文獻 References
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