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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78594完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 黃漢邦 | zh_TW |
| dc.contributor.author | 張祐慈 | zh_TW |
| dc.contributor.author | Yu-Tzu Chang | en |
| dc.date.accessioned | 2021-07-11T15:06:09Z | - |
| dc.date.available | 2024-08-15 | - |
| dc.date.copyright | 2019-08-23 | - |
| dc.date.issued | 2019 | - |
| dc.date.submitted | 2002-01-01 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78594 | - |
| dc.description.abstract | 本文主要探究於多機器手臂在未知環境中的協作任務運動規劃與控制，透過所提出的雲端機器人架構來讓各個機械手臂不僅能達到安全穩定的運作，還能藉由雲端服務完成遠端互動、動作排程與系統監控等功能。當使用者經由手機應用程式察看系統資訊並給出期望的命令時，雲端會使用其資料庫與演算法對該任務進行所有可行動作的安排。排程結果隨後傳遞至機械手臂附近的邊緣節點以進行路徑規劃演算法，倘若無法順利生成完整的無碰撞路徑時，則回傳訊息給雲端做修正或發送通知給使用者。最後，機械手臂執行規劃好的路徑，並經由導納控制完成協作過程中的環境干擾順應，以及用PID控制來最小化系統內力。同時，路徑最佳化演算法會優化尚未被執行的路徑來節省機械手臂的能量損失。從模擬與實驗結果中可驗證出所提之理論與方法的可行性與優良效能。 | zh_TW |
| dc.description.abstract | This thesis mainly addresses the motion planning and control of cooperative tasks with multiple manipulators in an unknown environment. Based on the proposed framework of the cloud robotics system, the manipulators can carry out safe and stable operations, and the cloud can implement functions, such as remote interactions, action scheduling, and system monitoring. When the users view the information of the system and give the commands through mobile applications, the cloud utilizes the database and the algorithms to schedule all feasible actions for the given tasks. After completing action scheduling, the result transmits to the edge nodes near manipulators to execute the path planning algorithm. If there is no collision-free path, the edge nodes will feedback a message to the cloud to do the modifications or to send the notification of the failure to the user. Finally, the planned paths are executed by the manipulators. The admittance control is used to accomplish the compliance for environmental disturbance, and the PID control is used to minimize the internal force during the cooperation. At the same time, the path optimization algorithm optimizes the currently unexecuted paths to further reduce the energy cost of manipulators. According to the simulations and experiments, the proposed theories and methods are verified to have an effective performance. | en |
| dc.description.provenance | Made available in DSpace on 2021-07-11T15:06:09Z (GMT). No. of bitstreams: 1 ntu-108-R06522802-1.pdf: 5750711 bytes, checksum: 299af4702fdee02debbc6cc8c5c5ba9a (MD5) Previous issue date: 2019 | en |
| dc.description.tableofcontents | 誌謝 i
摘要 iii Abstract v List of Tables ix List of Figures xi Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Contributions 2 1.3 Organization of the Thesis 4 Chapter 2 Kinematics of Robotics System 7 2.1 Standard Robot Arm 8 2.1.1 Forward Kinematics 9 2.1.2 Inverse Kinematics 10 2.1.3 Singularity Avoidance 12 2.2 Multiple Robot Arms 13 2.2.1 Master-Slave Approach 14 2.2.2 Extended-Cooperative-Task Space Approach 17 Chapter 3 Cooperative Motion Planning and Control 21 3.1 Path Planning 21 3.1.1 RRT-Connect 23 3.1.2 Advanced RRT-Connect 28 3.1.3 Cooperative ARRT-Connect 36 3.1.4 Optimal Path Planning 38 3.2 Admittance Control for Cooperation 43 3.2.1 Modeling 44 3.2.2 Object Motion Tracking with Environment Compliance 48 3.2.3 End-Effector Trajectory with Internal Force Control 49 3.3 Summary 50 Chapter 4 Cloud Robotics System 51 4.1 Flow Chart 52 4.2 Hardware Platform 54 4.2.1 Six-DOF Manipulator 54 4.2.2 PC-Based Controller 56 4.2.3 Sensors 58 4.3 Cloud Platform 61 4.3.1 Edge Computing 63 4.3.2 Action Planning 65 4.4 Software Platform 69 4.4.1 Simulator 69 4.4.2 Mobile Application 71 4.5 Summary 72 Chapter 5 Simulations and Experiments 73 5.1 Path Planning with Single Robot Arm 73 5.2 Path Planning with Dual Robot Arms 83 5.3 Path Optimization 86 5.4 Admittance Control for Cooperation 89 5.5 Transported Task with Cloud Robotics System 93 Chapter 6 Conclusions and Future Works 97 6.1 Conclusions 97 6.2 Future Works 98 References 99 | - |
| dc.language.iso | en | - |
| dc.subject | 多機械手臂協作 | zh_TW |
| dc.subject | 遠端互動 | zh_TW |
| dc.subject | 導納控制 | zh_TW |
| dc.subject | 路徑規劃 | zh_TW |
| dc.subject | 雲端機器人系統 | zh_TW |
| dc.subject | Cooperation of Multiple Manipulators | en |
| dc.subject | Path Planning | en |
| dc.subject | Admittance Control | en |
| dc.subject | Remote Interaction | en |
| dc.subject | Cloud Robotics System | en |
| dc.title | 基於雲端服務之多機械手臂協作運動規劃與控制 | zh_TW |
| dc.title | Cooperative Motion Planning and Control of Multi-Robot Manipulators based on Cloud Service | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 107-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 蔡清元;程啟正;李祖聖 | zh_TW |
| dc.contributor.oralexamcommittee | ;; | en |
| dc.subject.keyword | 雲端機器人系統,遠端互動,多機械手臂協作,路徑規劃,導納控制, | zh_TW |
| dc.subject.keyword | Cloud Robotics System,Remote Interaction,Cooperation of Multiple Manipulators,Path Planning,Admittance Control, | en |
| dc.relation.page | 103 | - |
| dc.identifier.doi | 10.6342/NTU201903550 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2019-08-14 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| dc.date.embargo-lift | 2024-08-23 | - |
| 顯示於系所單位： | 機械工程學系 | |
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