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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺 | |
| dc.contributor.author | Ching-Yuan Chen | en |
| dc.contributor.author | 陳敬元 | zh_TW |
| dc.date.accessioned | 2021-06-17T01:57:24Z | - |
| dc.date.available | 2020-08-02 | |
| dc.date.copyright | 2017-08-02 | |
| dc.date.issued | 2017 | |
| dc.date.submitted | 2017-07-20 | |
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Huang, 'Motion planning of a dual-arm mobile robot in the configuration-time space,' in Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009, pp. 2458-2463: IEEE. [18] A. S. Deo and I. D. Walker, 'Overview of damped least-squares methods for inverse kinematics of robot manipulators,' Journal of Intelligent & Robotic Systems, vol. 14, no. 1, pp. 43-68, 1995. [19] C. W. Wampler, 'Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods,' IEEE Transactions on Systems, Man, and Cybernetics, vol. 16, no. 1, pp. 93-101, 1986. [20] W. Khalil and E. Dombre, Modeling, identification and control of robots. Butterworth-Heinemann, 2004. [21] M. W. Spong, S. Hutchinson, and M. Vidyasagar, Robot modeling and control. Wiley New York, 2006. [22] N. Hogan, 'Impedance control: An approach to manipulation,' in American Control Conference, 1984, 1984, pp. 304-313: IEEE. [23] M. H. Raibert and J. J. Craig, 'Hybrid position/force control of manipulators,' Journal of Dynamic Systems, Measurement, and Control, vol. 102, no. 127, pp. 126-133, 1981. [24] J. T. Wen and S. Murphy, 'Stability analysis of position and force control for robot arms,' IEEE Transactions on Automatic Control, vol. 36, no. 3, pp. 365-371, 1991. [25] C. C. de Wit, B. Siciliano, and G. Bastin, Theory of robot control. Springer Science & Business Media, 2012. [26] P. B. Petrovic, I. Danilov, and N. Lukic, 'Nullspace Compliance Control of Kinematically Redundant Anthropomorphic Robot Arm.' [27] R. Platt Jr, M. E. Abdallah, and C. W. Wampler, 'Multi-Priority Cartesian Impedance Control,' in Robotics: Science and Systems, 2010. [28] H. Sadeghian, M. Keshmiri, L. Villani, and B. Siciliano, 'Null-space impedance control with disturbance observer,' in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, pp. 2795-2800: IEEE. [29] H. Sadeghian, L. Villani, M. Keshmiri, and B. Siciliano, 'Task-space control of robot manipulators with null-space compliance,' IEEE Transactions on Robotics, vol. 30, no. 2, pp. 493-506, 2014. [30] P. Corke, Robotics, vision and control: fundamental algorithms in MATLAB. Springer, 2011. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/67908 | - |
| dc.description.abstract | 微小創傷手術於近代逐漸取代傳統的外科手術，有著減少患者痛苦、縮短術後恢復時間等益處，而腹腔鏡微創機器人的發展能讓微小創傷手術更加方便、安全，應用範圍更加擴展。本文主要的研究目的在於為六軸腹腔鏡微創機器人發展出兩種拖曳教導及一種避障算法，以達成兩種任務：追隨末端座標軌跡、對醫護人員的避障。
本文首先推導機械手臂的運動學及動力學，實現拖曳教導，並建構阻抗控制架構增加機械手臂對環境的順應能力。接著推導出相對於任務空間的零空間矩陣，將根據人員與機械臂距離計算出的虛擬外力映射至零空間中，以同時達成兩項任務。文中以Kinect和控制器協作來實現推導出之拖曳教導及避障算法以驗證本研究的可行性。 | zh_TW |
| dc.description.abstract | In recent years, minimally invasive surgery(MIS) has gradually replaced traditional surgery. It has benefits like reduce patients’ pain and shorten recovery time after surgery. The development of endoscope holding robot arms can make MIS more convenient, safer, and can be used in more situation. The purpose of this thesis is to develop two drag teaching method and one collision avoidance method for six-axis endoscope holding robot arms. The arms have two mission: task track following and collision avoidance from medical staff.
First, we derived kinematics and dynamics for robot arms and achieved drag teaching. Constructed the structure of impedance control for compliance of the robot arm. Second, we derived null-space matrix of the task-space and reflected the virtual force which computed based on the distance between medical staff and robot arm into null-space. Then the robot arms can carry out two mission at a time. In this thesis, we use Kinect and robot arm controller to implement the method we developed to verify the feasibility of this research. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T01:57:24Z (GMT). No. of bitstreams: 1 ntu-106-R04522828-1.pdf: 4787776 bytes, checksum: 2b9ac37682d934ec2f90661fc2a9a8fc (MD5) Previous issue date: 2017 | en |
| dc.description.tableofcontents | 口試委員會審定書 Ⅱ
致謝 III 摘要 IV ABSTRACT V 目錄 VI 圖目錄 IX 表目錄 XII 第1章 緒論 1 1.1 研究動機 1 1.1.1 微創手術歷史沿革 1 1.1.2 微創手術的限制與問題 3 1.1.3 研究動機與目的 4 1.2 文獻回顧 5 1.3 微創手術操作方式 6 1.4 腹腔鏡視覺系統 8 1.5 論文架構 10 第2章 機械臂分析 12 2.1 機械臂運動學 12 2.1.1 位置姿態描述 13 2.1.2 齊次轉換 14 2.1.3 正運動學 15 2.1.4 逆運動學 17 2.2 關節空間與任務空間 21 2.2.1 賈可比矩陣 21 2.2.2 奇異點分析 23 2.2.3 阻尼最小平方法 23 2.3 機械臂動力學 24 2.3.1 動態方程式 24 2.3.2 逆向動力學 25 2.4 旋轉定理 27 2.4.1 尤拉旋轉定理 27 2.4.2 四元數法 28 第3章 腹腔鏡持鏡臂設計 30 3.1 持鏡臂架構介紹 30 3.2 運動學正解 32 3.3 腹腔鏡視覺下持鏡臂的運動規劃 35 第4章 機械臂控制理論 37 4.1 力量控制 37 4.1.1 阻抗控制 37 4.2 零空間控制 42 4.2.1 零空間矩陣 42 4.2.2 零空間應用於機械臂控制 43 第5章 持鏡臂系統設計 45 5.1 拖曳教導架構 45 5.2 避障分析 47 5.3 零空間避障阻抗控制架構 52 5.4 視覺與控制器協作 54 5.5 軟體架構 56 5.6 硬體架構 59 第6章 模擬和實驗結果 63 6.1 阻抗控制模擬 63 6.2 零空間阻抗控制模擬 66 6.3 拖曳教導實驗 69 6.4 持鏡臂避障實驗 72 第7章 結論和未來展望 77 7.1 結論 77 7.2 未來展望 77 參考文獻 79 | |
| dc.language.iso | zh-TW | |
| dc.subject | 力矩控制 | zh_TW |
| dc.subject | 微創手術 | zh_TW |
| dc.subject | 內視鏡機器人 | zh_TW |
| dc.subject | 零空間阻抗控制 | zh_TW |
| dc.subject | Minimally invasive surgery | en |
| dc.subject | Endoscope holding robot arm | en |
| dc.subject | Null-space impedance control | en |
| dc.subject | torque control | en |
| dc.title | 虛擬撓性控制於人機協作內視鏡扶持機器人之應用 | zh_TW |
| dc.title | Virtual compliance control design for a human co-working endoscope holding robot | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 105-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳永耀,何明志 | |
| dc.subject.keyword | 微創手術,內視鏡機器人,零空間阻抗控制,力矩控制, | zh_TW |
| dc.subject.keyword | Minimally invasive surgery,Endoscope holding robot arm,Null-space impedance control,torque control, | en |
| dc.relation.page | 81 | |
| dc.identifier.doi | 10.6342/NTU201701759 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2017-07-21 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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