研究生: |
吳俊錫 CHUN-HSI WU |
---|---|
論文名稱: |
立體視覺導引之互動式雙臂機器人 Stereo Vision Interactive Dual Arms Robot |
指導教授: |
黃緒哲
Shiuh-Jer Huang |
口試委員: |
吳忠霖
John-Ling Wu 周瑞仁 Jui-jen Chou |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2011 |
畢業學年度: | 99 |
語文別: | 中文 |
論文頁數: | 132 |
中文關鍵詞: | 立體視覺 、視差圖 、雙臂仿人型機器人 、機器人互動控制 |
外文關鍵詞: | Stereo Vision, Disparity Map, Mobile robot, Humanoid robot, Interactive robot control |
相關次數: | 點閱:233 下載:8 |
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本文主要研究在於視覺伺服與機器人運動平台之整合已建立機器人與環境互動能力。所提出之視覺演算法可找出影像感測器可視範圍內之物體三維座標與形狀大小資訊,結合實驗室自製之移動式雙臂仿人型機器人平台,以建立一個可與環境互動之智慧型機器人系統。信號與控制為結合數位訊號處理器(DSP)與現場可程式邏輯閘陣列(FPGA)之雙核心架構,以達成平行處理運算及分散式系統架構之優點。
立體視覺是利用雙眼視覺取得環境之視差圖(Disparity Map)後配合立體對應處理,即可估測出影像內物體之三維座標與物體之長寬高資訊;機械手臂之運動控制則採用不需系統模型之滑動模糊控制器(FSMC),兩輪之結合可以達成機器人在未知環境中,智慧型互動功能。由實驗結果可得知本研究所提出之視覺演算法有不錯的辨識能力,而FSMC在機械手臂之運動控制上亦有良好的控制效果,在未知環境下取出物體座標資訊誤差約在10 %左右,機械手臂各軸皆有0.05°以內之誤差精度。兩者之整合可令此移動機器人俱備與環境互動之智慧功能
The main research of thesis is the integration of visual servo and the robotic motion platform to establish the robotic interaction ability to environment. The proposed stereo vision algorithm can detect object from the sensor visual range of unknown environment and estimate the 3D coordinates、size and shape information .This stereo vision system is integrated with a Lab made mobile humanoid robot for constructing an intelligent robotic system. The digital signal processor (DSP) is employed to execute the stereo image processing and field programmable gate array (FPGA) is used to monitor robot motion control, for achieving parallel processing and distributed control system architecture.
Stereo vision system based on disparity map of environment to execute the corresponding stereo matching operation for obtaining the 3D coordinates、size and shape information. The model-free sliding mode fuzzy controller (FSMC) is employed to design the robot arm and platform motion control system. Both distributed system are integrated to construct the proposed low cost interaction ability intelligent robotic system within unknown environment. Experimental results show that the proposed stereo vision algorithms have good recognition ability and accuracy to reach 10 % error of the 3D coordinates information. The FSMC motion control algorithm can manipulate this humanoid robot each joint motion with joint angular error less than 0.05 °. Both system integration can achieve an intelligent mobile robot system with unknown environment integration capability.
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