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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 張帆人 | |
| dc.contributor.author | Cheng-Chang Ho | en |
| dc.contributor.author | 何政昌 | zh_TW |
| dc.date.accessioned | 2021-06-16T03:53:27Z | - |
| dc.date.available | 2018-02-04 | |
| dc.date.copyright | 2015-02-04 | |
| dc.date.issued | 2015 | |
| dc.date.submitted | 2015-01-08 | |
| dc.identifier.citation | [1]
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/55255 | - |
| dc.description.abstract | 擬人化已成為新一代機器人必備的條件，擬人化的範圍不再只是外型的模仿，更著重在於機器人行為擬人化的程度。而運動規劃方法的好壞，決定了機器人的行為與人類行為是否相似的關鍵。因此本篇論文提出了一個基於雙四元數的運動規劃器，導入了四元數指數和對數映射的方式去進行空間轉換，在三維的歐基里德空間中來描述末端效應器的姿態，並透過三階分段型B-樣條曲線的方法，同時針對末端效應器的位置與姿態進行軌跡曲線規劃，以達成平滑的目標。另外，在軌跡追蹤層面，建立了一個以雙四元數為基礎的追蹤控制架構，此架構採用模糊 PID控制器為主體，透過建立模糊規則庫的方式，來對PID參數進行動態調整，有效地處理複雜的動態軌跡追蹤控制的問題。最後實現在所設計的3D雙臂機器人(DAR-I)上，並利用兩組倒茶動作的模擬實驗，來驗證曲線的平滑性以及位置與姿態的相互配合度。並與其他軌跡規劃方法進行比較，皆得到不錯的效果。 | zh_TW |
| dc.description.abstract | The inclusion of anthropomorphic features in robots has become so commonplace that robots are now expected to behave like human beings. This study presents a motion planner based on dual quaternion with the import of exponential and logarithmic maps of the quaternion for space conversion in order to describe the attitude of the end-effector in a three-dimensional Euclidean space. Trajectory curves are planned for the position and attitude of the end-effector using the segmental cubic B-spline approach in order to provide unified treatment of smoothed trajectories of position as well as attitude. For trajectory tracking, we developed a dual-quaternion-based tracking control architecture based on a fuzzy PID controller. The PID parameters are dynamically adjustable using a fuzzy rule database, which was designed to handle complex trajectory tracking control problems. Finally, the proposed method was applied to a self-designed dual arm robot-I (DAR-I) through two tea-pouring experiments to evaluate the effects of treating of position and attitude in a unified manner. Our simulation results demonstrated better performance compared with those of other methods. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T03:53:27Z (GMT). No. of bitstreams: 1 ntu-104-D95921006-1.pdf: 4018348 bytes, checksum: c1424892db8331a2737056061b94735b (MD5) Previous issue date: 2015 | en |
| dc.description.tableofcontents | 口試委員會審定書 i
誌謝 ii 摘要 iv Abstract v Table of Content vi List of Figures viii List of Tables x Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 3 1.3 Thesis Highlights 7 1.4 Thesis Organization 8 Chapter 2 Preliminaries 10 2.1 Quaternions 11 2.2 Dual Quaternions 15 2.3 Exponential and Logarithmic Maps for Quaternions 18 2.4 Forward Kinematics Model with Dual Quaternions 21 Chapter 3 Motion Planning Strategies 25 3.1 Overview of Proposed Method 25 3.2 Selection of Passed Points 27 3.3 Trajectory Generation 28 3.3.1 B-spline Curves 29 3.3.2 Segmental Cubic B-spline Curve 41 Chapter 4 Control of Motion Tracking 50 4.1 Fuzzy PID Controller Design 54 4.2 Inverse Kinematics 70 4.2.1 Jacobian Matrix Computation 71 4.2.2 Joint Constraints 74 4.3 Application to DAR-I Robot 77 Chapter Simulation Results 82 5.1 Simulation Scenario 1: Pouring Tea Using a Single Arm 84 5.2 Simulation Scenario 2: One Arm Pouring Tea with One Arm Holding Teacup 89 Chapter 6 Conclusions 95 6.1 Conclusions and Contributions 95 6.2 Future Works 96 Reference 98 Appendix 102 A. Derivation of Zero-order Basis Function Coefficients 102 B. Normalization of Zero-order Basis Function Coefficients 107 | |
| dc.language.iso | en | |
| dc.subject | 雙臂機器人 | zh_TW |
| dc.subject | 雙四元數 | zh_TW |
| dc.subject | 四元數 | zh_TW |
| dc.subject | 運動規劃器 | zh_TW |
| dc.subject | 軌跡規劃 | zh_TW |
| dc.subject | B樣條曲線 | zh_TW |
| dc.subject | Dual arm robot | en |
| dc.subject | Motion planner | en |
| dc.subject | Quaternion | en |
| dc.subject | Dual quaternion | en |
| dc.subject | B-spline curve | en |
| dc.subject | Trajectory planning | en |
| dc.title | 基於雙四元數之B樣條曲線運動規劃方法 | zh_TW |
| dc.title | Dual Quaternion Based Motion Planning via B-Spline Approach | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 103-1 | |
| dc.description.degree | 博士 | |
| dc.contributor.oralexamcommittee | 李祖添,王立昇,林君明,卓大靖,姜義德 | |
| dc.subject.keyword | 軌跡規劃,運動規劃器,四元數,雙四元數,B樣條曲線,雙臂機器人, | zh_TW |
| dc.subject.keyword | Trajectory planning,Motion planner,Quaternion,Dual quaternion,B-spline curve,Dual arm robot, | en |
| dc.relation.page | 110 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2015-01-08 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| 顯示於系所單位： | 電機工程學系 | |
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