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標題: | 八邊形模組式機器人之設計、控制及重組規劃 Design, Control, and Reconfiguration Planning for Octagonal Modular Robot |
作者: | Ming-Chiuan Shiu 許銘全 |
指導教授: | 傅立成 |
關鍵字: | 電磁鐵,模組式機器人,可重組式機器人,回授線性化,重組規劃演算法, Electromagnet,modular robot,reconfigurable robot,feedback linearization,reconfiguration planning algorithm, |
出版年 : | 2011 |
學位: | 博士 |
摘要: | 可重組式機器人是由多個機器人模組所構成,透過這些機器人模組的合作行為可以改變整體機器人的形狀來適應不同的環境或是達成不同的目標。在本論文的研究上,主要是設計一個以八邊形機器人模組所構成的可重組式機器人,同時提出一個有效的控制方法以及它的重組規劃演算法。
首先,在八邊形模組所構成的可重組式機器人設計上,我們討論設計概念、機械結構、電子組成以及所選用的電磁致動器。在我們的設計中唯一使用E型電磁鐵來扮演模組之間連接及驅動可重組式機器人變換形狀的關鍵致動器。透過分析E型電磁鐵的磁力以及各種實驗結果來驗證這樣的設計確實可以達到可變形的目的。 其次,可重組式機器人的變形是透過模組與模組之間致動器對互相吸引所達成的旋轉運動來辦到,因此我們建立一個模組對模組的旋轉模型來探討致動器對之間距離對磁力所造成的影響。另外,在一個重組步驟中,使用漢密爾頓公式化法(Hamiltonian Formulation)來推導可重組式機器人的動態方程式。利用這個動態方程式,非線性系統中的回授線性化技術以及穩定性分析可以成功的被論證出來。藉由幾個簡單的模擬結果可以確定出這樣的設計方法確實可以達到控制重組式機器人在一個移動步驟中的運動。 最後,我們提出一個重組規劃演算法來規劃可重組式機器人的變形步驟。首先我們以相鄰並連接的模組之間的相對角度,透過深度優先搜尋法來定義出整體機器人的組態有向權重圖以及關聯矩陣,並利用有向權重圖匹配問題來定義出兩個組態間的距離。根據這個距離定義可以找出可重組式機器人在兩個組態之間變換的運動步伐次數的下界。基於這個下界我們使用A* 搜尋演算法來找出最佳的變形步驟。最後,透過兩種不同形狀的模組(六邊形及八邊形)所形成的機器人變形步驟模擬以及八邊形模組式機器人的變形實驗來驗證這個演算法的有效性。 A reconfigurable robot is made of a set of robotic modules with the ability to change the shape by having cooperation among the multiple robot modules. In this thesis, we address the issues about module’s design and control and about the problem with reconfiguration planning of the reconfigurable robot in particular with octagonal modules. First, we introduce the module’s design of the reconfigurable robot with octagonal modules. The design concept, mechanical structure, electrical processing unit, actuator dissection and reconfiguration examples of the proposed robotic modules are presented in detail. It is noteworthy that the key actuation of the robotic modules and, in turn, robotic reconfiguration is driven only by the E-type electromagnets, and modules with different shapes are implemented for versatile applications. The feasibility of the proposed robotic modules has been extensively tested. Second, we also introduce module-on-module rotation model, and derive the dynamics of a reconfigurable robot in Hamiltonian formulation. Using this approach we have implemented nonlinear control techniques including feedback linearization and stability analysis are applied successfully. The simulations are provided to validate the proposed method, and its advantages are also discussed. Third, this thesis presents a new approach to the problem with reconfiguration planning. We first propose a representation of the relative orientation between a module and its connected neighbors, from which an orientation adjacency matrix incorporating the concept of depth first search (DFS) and fixed coordinate setting is derived. Next, the distance measurement between any two configurations of the robot based on weighted graph matching problem (WGMP) method is introduced so that the lower bound on the number of motion steps from one configuration to another can be explicitly assessed. An A* search algorithm based on the above lower bound estimate for reconfiguration planning is developed to generate the optimal reconfiguration motion. To validate the proposed new approach, it has been demonstrated in simulations for two kinds of robots with two different types of modules, namely Octamods and hexagonal modules. Several simulation results and experiments are provided, which have shown promising results with impressive effectiveness. Overall, this thesis represents significant progress in design, control and reconfiguration planning algorithm of the reconfigurable robot with octagonal modules. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/48513 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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