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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 羅仁權(Ren C. Luo) | |
| dc.contributor.author | Yueh-Shiuan Tsai | en |
| dc.contributor.author | 蔡岳軒 | zh_TW |
| dc.date.accessioned | 2021-06-15T11:53:04Z | - |
| dc.date.available | 2016-08-24 | |
| dc.date.copyright | 2016-08-24 | |
| dc.date.issued | 2016 | |
| dc.date.submitted | 2016-08-11 | |
| dc.identifier.citation | [1] http://new.abb.com/products/robotics/industrial-robots
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Toshiyuki, 'Stability improvement of two wheel mobile manipulator by real time gain control technique.' Industrial and Infor-mation Systems, 2007. ICIIS 2007. International Conference on. IEEE, 2007. [16] A. K. Singh, and K. M. Krishna, 'Coordinating mobile manipulator's motion to produce stable trajectories on uneven terrain based on feasible acceleration count.' Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE, 2013. [17] J.B. Song, and K.S. Byun. 'Design and Control of a Four‐Wheeled Omnidirec-tional Mobile Robot with Steerable Omnidirectional Wheels.' Journal of Robotic Systems 21.4 (2004): 193-208. [18] P. Muir and C. Neuman. 'Kinematic modeling for feedback control of an omnidi-rectional wheeled mobile robot.' Autonomous robot vehicles. Springer New York, 1990. 25-31. [19] Y.H. Tsai, “7-DoF redundant robot manipulator with multimodal intuitive teach and play system.” Master’s Thesis, Electrical Engineering, National Taiwan Uni-versity, 2014. [20] P. Viboonchaicheep, A. Shimada, and Y. Kosaka. 'Position rectification control for Mecanum wheeled omni-directional vehicles.' Industrial Electronics Society, 2003. IECON'03. The 29th Annual Conference of the IEEE. Vol. 1. IEEE, 2003. [21] J. E. M. Salih, M. Rizon, S. Yaacob, A. H. Adom, and M. R. Mamat. 'Designing omni-directional mobile robot with mecanum wheel.' American Journal of Ap-plied Sciences 3.5 (2006): 1831-1835. [22] K. Han, K. Hyosin, and J. S. Lee. 'The sources of position errors of om-ni-directional mobile robot with Mecanum wheel.' Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on. IEEE, 2010. [23] K. Nagatani, S. Tachibana, M. Sofne, and Y. Tanaka. 'Improvement of odometry for omnidirectional vehicle using optical flow information.' Intelligent Robots and Systems, 2000.(IROS 2000). Proceedings. 2000 IEEE/RSJ International Con-ference on. Vol. 1. IEEE, 2000. [24] Y. Zhu. 'Adhesion in the wheel–rail contact under contaminated conditions.' Li-centiate thesis, KTH Royal Institute of Technology (2011). [25] H. W. Yoo, W. H. Kim, J. W. Park, W. H. Lee, and M. J. Chung, 'Real-time plane detection based on depth map from kinect.' Robotics (ISR), 2013 44th Interna-tional Symposium on. IEEE, 2013. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/49859 | - |
| dc.description.abstract | 相對於一般固定於定點的機器手臂，移動式機器手臂擁有更寬闊的運作範圍以及應用可能性。但是即使移動式機器手臂裝配了高精準度的工業機器手臂，仍不能保證在執行末端點任務時與固定是機器手臂有著相同的精準度。這是因為移動式機器手臂的運作精準度會極大地受到移動平台的穩定性所影響。即使手臂本身的誤差不大，若移動平台的位置有所誤差，這些誤差將會持續累積到手臂的任務執行上。因此在移動式機器手臂的應用上，必須審慎的考慮移動平台與機器手臂的關係。在這篇論文中，我們提出了兩個主要的誤差來源，並透過適應性控制技術解決這些問題：1) 移動平台的輪子打滑所造成的運動誤差，2) 當機器手臂操作過程呈現不同姿態時，會使平台有傾斜的現象。為了有效解決上述問題，我們分析這兩項不穩定來源皆會受到機器手臂不同姿態所影響，我們提出一個能夠線上參考手臂姿態調整模組，並預測誤差，再於實際運動控制時調整執行命令，以達到減少誤差的目標。同時為了完善整個系統為閉路回授，我們使用能夠讀取彩色影像以及深度資料的Kinect攝影機來作為機器的觀測系統，讓該移動式機器手臂能同時觀測誤差以及更新來自於未知狀況的誤差，藉此增進整體的任務表現。為了測試我們的控制系統，首先我們測試了我們的打滑模型在機器人移動時能否應付打滑的現象。接著測試了機器人在手臂運作下是否能夠減少機台傾斜所造成的誤差。最後我們測試了移動平台與機器手臂同時運作的狀況下，能否同時應對打滑以及機台傾斜的誤差。實驗結果可比較得知我們的系統對預到兩者問題帶來誤差，明顯比原始的系統大幅的減少。我們將原本系統超過1.5公分至3公分的誤差減少至不到0.5公分。 | zh_TW |
| dc.description.abstract | Mobile manipulation robots can provide an extended workspace of applications comparing to standard fixed-base manipulators. A mobile platform cannot always guarantee the accuracy of an end-effector task even attached with a highly precise ma-nipulator. The accuracy of the manipulator is greatly relied on the stability of the mo-bile platform. It is necessary to consider the relationship between the mobile platform and the manipulator. In this thesis, we discuss two main sources of errors caused insta-bility and find the solutions to resolve these: 1) the slip phenomenon on the wheels and 2) the oblique phenomenon of the mobile platform with current manipulator transfor-mation. We propose an on-line adaptive method with the configuration change of the manipulator to reduce the error caused by the instability of the mobile platform. To improve the performance of our system with close loop control, we use Kinect as an observation feedback system to keep updating the error caused by uncertainty. To evaluate our system, we first test our slippage model resisting to the slippage problem when moving. Then, we also individually test the oblique model with oblique phe-nomenon while the manipulating. At last, we operate mobile system and manipulation system simultaneously to evaluate our adaptive motion system. The experimental re-sult demonstrates the error cause by the slippage and the oblique had been decrease compared to the original system. The original system without any compensation has about 1 cm error to 3 cm. And our system can reduce the error to less than 0.5 cm. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T11:53:04Z (GMT). No. of bitstreams: 1 ntu-105-R02921064-1.pdf: 2517533 bytes, checksum: 77216dca8106feb98f445b823aa1c896 (MD5) Previous issue date: 2016 | en |
| dc.description.tableofcontents | 誌謝 i
中文摘要 ii ABSTRACT iii TABLE OF CONTENTS iv LIST OF FIGURES vii LIST OF TABLES ix Chapter 1 Introduction 1 1.1 Introduction to Mobile Manipulation Robot 1 1.2 Motivation 4 1.3 Thesis Organization 6 Chapter 2 Research Materials 7 2.1 Hardware 7 2.1.1 7-DoF Manipulator 7 2.1.2 Mecanum-wheeled Mobile Platform 10 2.1.3 Kinect Sensor 11 2.2 Software 12 Chapter 3 System Architecture 13 3.1 Regulation System 13 3.2 Observation System 14 3.3 Manipulation System 14 3.4 Mobile System 15 Chapter 4 Mathematical Model of Robot Platform 16 4.1 7-DoF manipulator 16 4.1.1 Forward Kinematic 16 4.1.2 Inverse Kinematic 17 4.2 Four-wheeled Omni-directional mobile robot 18 4.2.1 Kinematics Models 18 4.2.2 Omni-directional Motion 20 Chapter 5 The Slippage Model 23 5.1 Slippage Phenomenon 23 5.2 Effect of the Center of gravity Shift 24 5.3 Modeling the Slippage 27 5.3.1 Adhesion Coefficient 28 5.3.2 Modeling the center of gravity displacement 28 5.3.3 The Adaptive Model 30 Chapter 6 Slippage Model Evaluation 33 6.1 Sideway moving experiment 33 6.2 Omni-direction operation experiment 34 Chapter 7 The Oblique Model 37 7.1 The Oblique Phenomenon 37 7.2 Modeling the Oblique 40 7.3 Online Oblique Observation 42 Chapter 8 Experimental Implementation 44 8.1 Mobile Manipulator Oblique Scenario 44 8.1.1 Experimental Procedure 44 8.1.2 Experimental Results 45 8.2 Simultaneous Operation Scenario 48 8.2.1 Experiment Procedure 48 Chapter 9 Experimental Results and Discussions 50 9.1 First Stage: Moving Backwards 51 9.2 Second Stage: Moving Right 52 Chapter 10 Conclusion and Future Works 55 10.1 Conclusion 55 10.2 Future Works 55 10.3 Potential Applications 55 REFERENCE 59 VITA 63 | |
| dc.language.iso | en | |
| dc.subject | 平台傾斜 | zh_TW |
| dc.subject | 移動式機器手臂 | zh_TW |
| dc.subject | 全向輪 | zh_TW |
| dc.subject | 輪子打滑 | zh_TW |
| dc.subject | Mecanum wheel | en |
| dc.subject | platform oblique | en |
| dc.subject | slippage | en |
| dc.subject | Omni-directional wheel | en |
| dc.subject | Mobile manipulator | en |
| dc.title | 移動平台和機器手臂同動之適應運動控制於移動式機器手臂之應用 | zh_TW |
| dc.title | Adaptive motion control in simultaneous actions of mobile platform and robot manipulator for mobile manipulation applications | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 104-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 張帆人(Fan-ren Chang),顏炳郎(Ping-Lang Yen) | |
| dc.subject.keyword | 移動式機器手臂,全向輪,輪子打滑,平台傾斜, | zh_TW |
| dc.subject.keyword | Mobile manipulator,Omni-directional wheel,Mecanum wheel,slippage,platform oblique, | en |
| dc.relation.page | 63 | |
| dc.identifier.doi | 10.6342/NTU201601998 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2016-08-11 | |
| 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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