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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 連豊力 | zh_TW |
| dc.contributor.advisor | Feng-Li Lian | en |
| dc.contributor.author | 陳芳緯 | zh_TW |
| dc.contributor.author | Fang-Wei Chen | en |
| dc.date.accessioned | 2024-07-18T16:11:03Z | - |
| dc.date.available | 2024-07-19 | - |
| dc.date.copyright | 2024-07-18 | - |
| dc.date.issued | 2024 | - |
| dc.date.submitted | 2024-07-11 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/93137 | - |
| dc.description.abstract | 在工業自動化領域，雖然處理剛性物體已經取得了成功，但是操控像液體這樣可變形的物體仍然是一項挑戰。本論文專注於利用移動式機械手臂（mobile manipulator）提出創新的解決方案，以應對液體運輸和澆注任務。為應對液體運輸挑戰，我們利用全身模型預測控制（whole-body MPC）將機械手臂和移動底座的運動進行同步。同時提出了基於模型預測控制(MPC)的架構以生成最佳參考無濺擾軌跡，利用濺擾抑制的模擬驗證展示於移動機械手臂的適用性，並且優於現有基於軌跡最佳化(TO)的方法，成功減少了44％的方均根誤差（RMSE）。對於澆注任務，我們將複雜的導航和定位算法整合到自定義移動底座中，利用視覺補償來校正低導航精度引起的基座偏移。實現了一個前饋補償器來達成澆注位置控制任務，通過影像處理技術驗證，取得了令人滿意的結果。這些進展為智慧機器人中的液體操作任務提供了有希望的解決方案，增強了工業自動化能力。 | zh_TW |
| dc.description.abstract | In industrial automation, while handling rigid objects has seen success, manipulating deformable objects like liquids remains challenging. This thesis focuses on introducing innovative solutions for liquid transport and pouring tasks using a mobile manipulator (MM).To address liquid transport challenges, we synchronize the manipulator and mobile base using whole-body Model Predictive Control (MPC). The proposed slosh-free MPC framework generates optimal reference trajectories, outperforming existing Trajectory Optimization (TO) methods. It demonstrates its suitability for MM with slosh suppression through validation simulations, achieving a 44% reduction in Root Mean Square Error (RMSE). For pouring tasks, we integrate well-established navigation algorithms into a customized mobile base, utilizing visual compensation to correct the base shift due to the inherent uncertainties. A feedforward compensator is implemented to achieved pouring position control task, yielding a satisfactory result validated through image processing techniques. These advancements offer promising solutions for liquid manipulation tasks in intelligent robotics. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-07-18T16:11:03Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2024-07-18T16:11:03Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 摘要 i
ABSTRACT ii CONTENTS iii LIST OF FIGURES vii LIST OF TABLES ix Chapter 1 Introduction 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.3 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3.1 Fast Replanning Slosh-free Trajectory for Mobile Manipulation us ing Model Predictive Control . . . . . . . . . . . . . . . . . . . . 5 1.3.2 Feedforward Compensation Controller for Pouring Position . . . . 5 1.3.3 Implementation of Existing Navigation Algorithms on a Custom built Mobile Base . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 Organization of the Thesis . . . . . . . . . . . . . . . . . . . . . . . 6 Chapter 2 Background and Literature Survey 7 2.1 Mobile Manipulator: Control Methodologies . . . . . . . . . . . . . 7 2.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1.2 Existing Works on Motion Planning of Mobile Manipulator . . . . 8 2.2 Liquid Transportation (Nonprehensile Dynamic Manipulation): Slosh free Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.3 Liquid Pouring: Deformable Object Manipulation . . . . . . . . . . 14 Chapter 3 Related Algorithms and Mathematical Preliminaries 17 3.1 Mobile Manipulator System Model . . . . . . . . . . . . . . . . . . 17 3.2 Whole-Body MPC Formulation . . . . . . . . . . . . . . . . . . . . 18 3.3 Liquid Sloshing Dynamics . . . . . . . . . . . . . . . . . . . . . . . 19 3.3.1 Spherical Pendulum Model-Moroccan Tea Tray Mechanism . . . . 19 3.3.2 Damped Spherical Pendulum Model- Sloshing Dynamics . . . . . 20 3.3.3 Slosh-free Trajectory Optimization . . . . . . . . . . . . . . . . . 21 3.4 Liquid Dynamics from Pouring Motion . . . . . . . . . . . . . . . . 23 3.4.1 Pouring Process Model . . . . . . . . . . . . . . . . . . . . . . . 23 3.4.2 Model of Outflow Liquid with Parabolic Motion . . . . . . . . . . 25 3.5 Localization and Navigation in the Structured Environment . . . . . 26 3.5.1 Extended Kalman Filter (EKF) . . . . . . . . . . . . . . . . . . . 26 3.5.1.1 Wheel Odometry . . . . . . . . . . . . . . . . . . . . . . . 28 3.5.1.2 Laser Odometry: RF2O . . . . . . . . . . . . . . . . . . . 29 3.5.2 Adaptive Monte Carlo Localization (AMCL) . . . . . . . . . . . . 30 3.5.3 A* Path Planner and DWA local Planner . . . . . . . . . . . . . . 32 Chapter 4 Proposed Methods 35 4.1 Slosh-free MPC for Mobile Manipulation . . . . . . . . . . . . . . . 35 4.1.1 Slosh-free MPC Formulation . . . . . . . . . . . . . . . . . . . . 35 4.1.2 Feedforward Slosh-free MPC . . . . . . . . . . . . . . . . . . . . 37 4.1.3 Slosh-free MPC with Feedback Stabilization . . . . . . . . . . . . 38 4.2 Motion Planning for Autonomous Pouring Process . . . . . . . . . . 38 4.2.1 Visual Calibrated Repositioning . . . . . . . . . . . . . . . . . . . 39 4.2.2 Falling Position Feedforward Controller . . . . . . . . . . . . . . 40 4.3 Localization and Navigation in the Structured Environment . . . . . 42 4.3.1 Implementaion of Extended Kalman Filter for Localization and State Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.3.2 Implementaion of A* and DWA for Path Planning and Motion Com mand Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Chapter 5 Simulations, Experimental Results and Analysis 47 5.1 Simulations of Slosh-free MPC . . . . . . . . . . . . . . . . . . . . 47 5.1.1 Simulation settings . . . . . . . . . . . . . . . . . . . . . . . . . . 47 5.1.2 MPC Parameters Tuning for Feedforward Slosh-free MPC . . . . . 48 5.1.2.1 Time Horizons . . . . . . . . . . . . . . . . . . . . . . . . 48 5.1.2.2 Input Constraints . . . . . . . . . . . . . . . . . . . . . . . 48 5.1.3 Whole Body MPC Tracking Results . . . . . . . . . . . . . . . . . 49 5.1.3.1 Sinusoidal Motion Planning . . . . . . . . . . . . . . . . . 49 5.1.3.2 Point-to-point Motion Planning . . . . . . . . . . . . . . . 51 5.1.4 Slosh Suppression Simulations . . . . . . . . . . . . . . . . . . . 52 5.1.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.2 Pouring Falling Position . . . . . . . . . . . . . . . . . . . . . . . . 55 5.2.1 Experiment setup . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.2.2 PTP versus LINE motion planning . . . . . . . . . . . . . . . . . 57 5.2.3 Feedforward Compensation Controller . . . . . . . . . . . . . . . 58 5.3 Localization and Navigation in the Structured Environment . . . . . 60 5.3.1 Experiment setup . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.3.2 Comparison in Localization Algorithms . . . . . . . . . . . . . . . 60 5.3.3 Naivgation in Structured Environment . . . . . . . . . . . . . . . 62 Chapter 6 Conclusions and Future Works 65 References 67 Appendix A Slosh-free TO Implementation Results 77 A.1 Velocity Reference and Waypoint Constraints for the Trajectory Op timization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 A.2 Finetuining of the Parameters: Time and Length of the Rod . . . . . 79 Appendix B Whole-body MPC Testing Results 81 B.1 End Effector Tracking Results . . . . . . . . . . . . . . . . . . . . . 81 B.2 Control Input Planned by Whole-body MPC . . . . . . . . . . . . . . 82 | - |
| dc.language.iso | en | - |
| dc.subject | 模型預測控制 | zh_TW |
| dc.subject | 無濺擾軌跡 | zh_TW |
| dc.subject | 澆注位置控制 | zh_TW |
| dc.subject | 導航與操作 | zh_TW |
| dc.subject | Slosh-Free | en |
| dc.subject | Pouring Control | en |
| dc.subject | Model Predictive Control | en |
| dc.subject | Navigation and Manipulation | en |
| dc.title | 快速重新規劃無濺擾軌跡與流出液體動態補償控制於移動機械臂應用 | zh_TW |
| dc.title | Fast Replanning for Slosh-Free Trajectories and Compensation Control with Outflow Liquid Dynamics in a Mobile Manipulator | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 林沛群;顏炳郎 | zh_TW |
| dc.contributor.oralexamcommittee | Pei-Chun Lin;Ping-Lang Yen | en |
| dc.subject.keyword | 模型預測控制,無濺擾軌跡,澆注位置控制,導航與操作, | zh_TW |
| dc.subject.keyword | Model Predictive Control,Slosh-Free,Pouring Control,Navigation and Manipulation, | en |
| dc.relation.page | 83 | - |
| dc.identifier.doi | 10.6342/NTU202401502 | - |
| dc.rights.note | 同意授權(限校園內公開) | - |
| dc.date.accepted | 2024-07-11 | - |
| dc.contributor.author-college | 電機資訊學院 | - |
| dc.contributor.author-dept | 電機工程學系 | - |
| 顯示於系所單位： | 電機工程學系 | |
文件中的檔案：
| 檔案 | 大小 | 格式 | |
|---|---|---|---|
| ntu-112-2.pdf 授權僅限NTU校內IP使用（校園外請利用VPN校外連線服務） | 14.28 MB | Adobe PDF |
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