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研究生： 蕭佑緯
Yu-wei Hsiao
論文名稱： 全向輪移動式雙臂機器人之整體動態行為控制
Dynamic Motion Control of an Omni-directional Mobile Robot System
指導教授： 黃緒哲
Shiuh-jer Huang
口試委員: 陳亮光
Liang-kuang Chen
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： 2013
畢業學年度： 101
語文別： 中文
論文頁數： 160
中文關鍵詞： 立體視覺 、全向式移動平台 、感測器融合 、滑動模糊控制 、自組織模糊控制 、以函數近似法結合之適應性控制
外文關鍵詞： stereo vision, omni-directional platform, sensor fusion, fuzzy sliding mode control, self-organizing fuzzy control, and FAT-based adaptive control
相關次數： 點閱：668  下載：10 
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    • 本研究整合可程式化邏輯閘陣列(FPGA)及數位訊號處理器(DSP)分別實現機器人運動系統控制與立體視覺辨識，達到機器人平行運算及控制的目標。以兩側CMOS光學感測器之資料進行環境視差圖(Disparity)與影像相減(Differencing)影像處理，可以得知目標物於兩個影像間的相對移動關係。由立體對應和光學幾何計算得到未知環境下之非特定物體資訊，透過通用非同步收發傳輸器(UART)將物體三維座標資訊傳輸給FPGA運動控制系統，並完成機器人平台與手臂之運動軌跡規劃。全向式機器人運動平台方面，本研究中比較低通濾波器、互補式濾波器及卡爾曼濾波器(Kalman Filter)處理各軸編碼器、電子羅盤和陀螺儀感測訊號之效果，並實現感測器融合之資訊整併方法。運動控制以分散式控制架構，由前端整體動態控制器規劃各軸外加的速度修正量，藉此達到誤差抑制的效果。運動控制方法採用不需要系統模型之滑動模糊控制(FSMC)、自組織模糊控制(SOFC)及以函數近似法結合之適應性控制(FATAC)，對於機械手臂與全向式輪型平台之運動皆有不錯的控制效果。

    In this thesis, digital signal processor (DSP) based 3D visual recognition system is integrated with field programmable gate array (FPGA) mobile robot motion control system. Stereo vision system is employed to locate the coordination and overall dimensions of the unknown object in unknown environment by using disparity map. Image subtraction processing is used to correct the processing effect of disparity map and obtain smooth identification result. The unknown object three-dimensional coordinates is transmitted to the FPGA motion control systems via universal asynchronous receiver/ transmitter (UART) interface. Then, the control system completes the mobile platform and the robot arm trajectory planning. In this omni-directional robot platform, the effect of the digital filters and sensor fusion method of four axis encoders, electronic compass, and gyroscope signals processing are compared. The fuzzy sliding control (FSMC), self-organizing fuzzy control (SOFC), and functional approximation technique based on adaptive control (FATAC) are employed to control the motion trajectory of the mobile platform. The mechanical arm and omni-directional wheel platform control system is distributed control architecture. The dynamic performance of this overall dynamic controller is investigated based on experimental results.

    摘要 I Abstract II 誌謝 III 目錄 IV 圖目錄 VII 表目錄 XIV 緒論 1 1.1 前言 1 1.2 文獻回顧 2 1.3 研究動機與目的 4 1.4 論文架構 5 第二章 系統架構 6 2.1 系統簡介 6 2.2 視覺系統 7 2.3 運動控制系統 8 2.4 姿態感測模組 10 2.5 全向移動式雙臂機器人 11 第三章 運動學分析與姿態感測 15 3.1 雙臂機器人運動學分析 16 3.1.1 連桿座標系統與機械手臂參數 16 3.1.2 正向運動學 19 3.1.3 反向運動學 20 3.1.4 梯型速度規劃 23 3.2 全向式移動平台運動學分析 27 3.2.1 移動平台運動模型推導 27 3.2.2 移動平台軌跡規劃 31 3.3 姿態感測器通訊介面 32 3.4 用於感測器模組之數位濾波器 35 第四章 立體視覺系統 45 4.1 影像感測器硬體設定 46 4.1.1 CMOS影像傳輸時序控制 46 4.1.2 影像擷取及傳輸電路 48 4.2 原始影像前處理程序 49 4.2.1 色彩內插還原 50 4.2.2 影像灰階化 52 4.2.3 等極線平行校正 52 4.2.4 影像降維 54 4.3 未知物體偵測 55 4.3.1 視差圖 56 4.3.2 影像相減 58 4.3.3 二值化 59 4.3.4 自動二值化 60 4.3.5 形態學處理 61 4.3.6 框選未知物體 63 4.3.7 邊緣檢測 66 4.3.8 完成修正框選區域 67 4.4 立體視覺與座標估測 68 4.4.1 立體對應 70 4.4.2 景深估測 71 4.4.3 計算三維座標 72 第五章 機器人運動控制與策略 76 5.1 基本模糊控制器架構 77 5.2 自組織模糊控制 79 5.3 模糊滑動模式控制 84 5.4 以函數近似法為基礎之適應性控制 88 5.5 航位推估法 94 5.6 全向式平台控制策略 95 第六章 實驗結果與討論 99 6.1 立體影像分析實驗 100 6.2 機械手臂運動控制 106 6.3 全向式移動平台運動控制 111 6.3.1 全向式移動平台之轉動角速度修正 111 6.3.2 以不同之各軸控制器對整體修正策略之影響 124 6.3.3 全向式移動平台之位置推估與方位角補償控制 130 6.3.4 全向式移動平台之軌跡追蹤控制 147 6.3.5 整合影像辨識之運動控制實驗 149 第七章 結論與未來展望 151 7.1 結論 151 7.2 未來展望 153 參考文獻 154

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