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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 林沛群(Pei-Chun Lin) | |
dc.contributor.author | Wu-Te Yang | en |
dc.contributor.author | 楊武德 | zh_TW |
dc.date.accessioned | 2021-07-11T14:44:01Z | - |
dc.date.available | 2026-12-31 | |
dc.date.copyright | 2016-10-14 | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016-08-06 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78154 | - |
dc.description.abstract | 由於工業自動化的發展,機器人應用的需求也日趨提升。而工業機器人擁有良好的重複精度,但是準度(絕對精度)則較差,加上面對未知與日漸複雜的工作環境,機器人性能與控制策略的提升有其必要性,本論文著重於發展單機械手臂校正與雙機械手臂自我校正的方法,以及雙手臂系統的協同操作。
在單手臂校正部分,設計校正桌與校正器等機構,協助機械手臂進行校正,僅考慮幾何誤差。校正桌的功能在於輔助機械手臂取得末端點位置,而非仰賴高單價的量測系統,加上各軸馬達編碼器記錄的角度資訊,再利用最佳化方法,疊代出新的運動學參數,以校正機械手臂的準度。雙機械手臂自我校正的部分,則延續單手校正的概念,以球接頭串聯兩手臂系統,成一封閉鏈,而末端位置固定且已知,利用封閉鏈多餘自由度的特性,選定校正軌跡,配合順應控制,使系統自動執行校正軌跡。將記錄的角度資訊與已知的位置,同樣以最佳化方法,疊代出兩手臂的新參數,提升雙手臂系統的準度(絕對精度)。 在雙手操作的發展上,延續周敬凱學長的研究。在雙手協同架構中,採用主從控制策略,第一部分,改良被動端的力控制策略,提升性能,第二部分,主動端軌跡為使用者輸入,再以卡曼濾波器,混合位置與力資訊,以估測被動端的最佳軌跡,使雙機械手臂能協同操作,夾取多樣化的物體。第三部分,探討雙手操作的影響因素,考量點接觸、線接觸與面接觸,速度、尺寸與重量等因素,以實驗設計法輔助進行與分析。最後,若被夾取物較重,則選擇適當的夾取姿態,以結構輔助撐起物體,而非僅靠摩擦力,以節省手臂出力。 | zh_TW |
dc.description.abstract | As the development of industrial automation, application of industrial robots is increasingly required. Although industrial robots have excellent repeatability, their positioning accuracy is relatively poor. Also, tasks in production line may become more and more complex, it is essential to improve performance of robot arms. This research pays attention to calibration of single robot arm and self-calibration of dual-arm system as well as manipulation coordination strategy of dual-arm.
To calibrate single robot arm, calibration table and mechanism were designed and built. Calibration table can be used to help obtain positions of end-effector instead of relying on expensive measurement system. At the same time, angles of each joint are recorded by encoders attached on every joint. The positions and angles are input to optimization program to iterate new kinematic parameters so that positioning accuracy of robot arm can be improved. The concept of calibration of single arm is extended to calibrate dual-arm. A ball joint is demanded to connect two robot arms and become a closed-chain(or a big arm). The position of end-effector is fixed and known by CAD file. Because of the redundant DOF of the closed-chain, a specific path is selected which dual-arm can follow automatically. During the process, a set of angles is recorded. Similarly, optimization program is used to iterate new kinematic parameters for two arms and their positioning accuracy has been improved. The target of developing manipulation coordination strategy of dual-arm is to manipulate diverse objects stably including rigid and non-rigid bodies. The controller has master-slave structure. Users input desired trajectory to master arm. Then, that trajectory and force interaction between the arm and the object are fused in a Kalman filter to estimate better trajectory for slave arm to manipulate an object stably. Further, to explore manipulability of dual-arm system, a series of experiments were designed which different contact types, motion speed, object size, and weight are considered. Finally, if the object is large and heavy, system can select an appropriate pose to help support its gravity. | en |
dc.description.provenance | Made available in DSpace on 2021-07-11T14:44:01Z (GMT). No. of bitstreams: 1 ntu-105-R03522818-1.pdf: 5017331 bytes, checksum: 71be1b0a4d93a5e73daf154cc7a013c1 (MD5) Previous issue date: 2016 | en |
dc.description.tableofcontents | 誌謝 I
摘要 II Abstract III 目錄 V 圖目錄 VIII 表目錄 XII 第一章 緒論 1 1.1前言 1 1.2研究動機 2 1.3文獻回顧 3 1.3.1機械手臂校正 3 1.3.2順應控制 7 1.3.3雙手操作 9 1.4貢獻 11 1.5論文架構 12 第二章 機器人與硬體設備 14 2.1雙機械手臂系統 14 2.1.1機構設計 14 2.1.2制動器 15 2.1.3感測器 16 2.1.4機電系統 17 2.2底座機構改良 20 2.3校正機構設計 21 2.3.1校正桌設計 21 2.3.2校正器設計 27 2.4Vicon相機系統 28 第三章 單機械手臂校正 31 3.1前言 31 3.2運動學 32 3.2.1DH參數制定 32 3.2.2順向運動學 35 3.2.3逆向運動學 36 3.3校正概念 37 3.4參數最佳化 39 3.5單手校正實驗與結果 41 3.5.1驗證方法 42 3.5.2校正桌平放實驗結果 42 3.5.3校正桌傾斜實驗結果 44 3.6Vicon相機校正單手臂結果 47 3.7單手校正結論 49 第四章 雙機械手臂自我校正 52 4.1前言 52 4.2雙手臂系統與校正方法 52 4.3校正自動化與順應控制 54 4.3.1順應控制 55 4.3.2順應控制測試 56 4.4雙手臂系統校正實驗結果 59 4.4.1校正軌跡的選擇 60 4.4.2雙手校正實驗結果 61 4.5雙手自我校正結論 63 第五章 雙手協同操作 67 5.1前言 67 5.2力控制架構 68 5.3協同操作架構 71 5.3.1卡曼濾波器 72 5.3.2雙手協同操作實驗準備 75 5.3.3雙手協同操作實驗 76 5.4雙手操作性 88 5.5夾取姿態的選擇 96 5.6雙手操作結論 100 第六章 結論與未來展望 101 6.1結論 101 6.2未來展望 102 參考文獻 103 | |
dc.language.iso | zh-TW | |
dc.title | 雙機械手臂自我校正與協同操作 | zh_TW |
dc.title | Self-calibration and manipulation coordination in a dual-arm robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 104-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃光裕(Kuang-Yuh Huang),詹魁元(Kuei-Yuan Chan),顏炳郎 | |
dc.subject.keyword | 單手臂校正,雙手臂自我校正,順應控制,卡曼濾波器,雙手操作, | zh_TW |
dc.subject.keyword | Calibration of single arm,self-calibration of dual-arm,compliance control,Kalman filter,dual-arm manipulation, | en |
dc.relation.page | 107 | |
dc.identifier.doi | 10.6342/NTU201601960 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2016-08-08 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
dc.date.embargo-lift | 2026-12-31 | - |
顯示於系所單位: | 機械工程學系 |
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