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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 黃漢邦 | zh_TW |
| dc.contributor.advisor | Han-Pang Huang | en |
| dc.contributor.author | 曾建堯 | zh_TW |
| dc.contributor.author | Chien-Yao Tseng | en |
| dc.date.accessioned | 2024-08-07T16:35:56Z | - |
| dc.date.available | 2024-08-08 | - |
| dc.date.copyright | 2024-08-07 | - |
| dc.date.issued | 2024 | - |
| dc.date.submitted | 2024-07-31 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/93705 | - |
| dc.description.abstract | 本論文提出了Arm-SLAM 框架，它將同步定位與建圖 (SLAM)與機器手臂整合在一起。Arm-SLAM 框架使用 SLAM 創建為機器手臂提供的環境地圖。此外，Arm-SLAM框架包括改進的虛擬阻抗控制方法，並設計了無標記視覺伺服方法，以確保機械手臂的安全性和準確性。Arm-SLAM框架及其組件，包括改進的虛擬阻抗控制和無標記視覺伺服，透過三個實驗結果進行了演示。在第一個實驗中，改進的虛擬阻抗控制證明它可以成功地避開靜態和動態障礙物。在第二個實驗中，與使用ArUco標記的視覺伺服方法相比，無標記視覺伺服方法具有類似的重複性，但誤差為1.5公分，比基線方法低1.5公分。此外，無標記視覺伺服方法具有足夠的穩健性，可以應對手眼校準方法帶來的誤差。在最後的實驗中，ArmSLAM框架證明了它可以在複雜的環境下成功運作。 | zh_TW |
| dc.description.abstract | This thesis proposes the Arm-SLAM framework, which integrates Simultaneous Localization and Mapping (SLAM) with a robot manipulator. The Arm-SLAM framework uses the SLAM to create the map of the environment provided for the robot manipulator. Moreover, the Arm-SLAM framework includes a modified virtual impedance control method and designed a markerless visual servoing method to ensure the safety and accuracy of the robot manipulator. The Arm-SLAM framework and its components, including the modified virtual impedance control and markerless visual servoing, are demonstrated through three experimental results. In the first experiment, the modified virtual impedance control proved that it could successfully avoid both static and dynamic obstacles. In the second experiment, compared with the visual servoing method using the ArUco marker, the markerless visual servoing method has similar repeatability, but the error is 1.5 cm, which is 1.5 cm lower than the baseline method. Moreover, the markerless visual servoing method is robust enough to face the error caused by the hand-eye calibration method. In the final experiment, the ArmSLAM framework proved that it can successfully work under a complex environment. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-08-07T16:35:55Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2024-08-07T16:35:56Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 中文口試委員審定書 i
英文口試委員審定書 iii 誌謝 v 摘要 vii Abstract ix List of Tables xiii List of Figures xv Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Contributions 3 1.3 Organization of Thesis 4 Chapter 2 Background and Related Work 7 2.1 Kinematics 7 2.1.1 Forward Kinematics 9 2.1.2 Jacobian Matrix 9 2.1.3 Inverse Kinematics 10 2.2 Visual SLAM with Robot Manipulator 13 2.3 Markerless Visual Servoing 18 2.4 Collision Avoidance 20 Chapter 3 Arm-SLAM 25 3.1 Mapping 26 3.1.1 ORBSLAM3-YOLO 26 3.1.2 Point Cloud Mapping 30 3.2 Localization 34 3.2.1 Planning 35 3.2.2 First-Stage control 37 3.2.3 Second-Stage control 50 3.3 Summary 51 Chapter 4 Experiments 53 4.1 Experiment Platform 53 4.1.1 Karm 53 4.1.2 Intel RealSense D435 55 4.1.3 System Setup 56 4.2 Experiment 1: Collision Avoidance 58 4.2.1 Result and Discussion 59 4.3 Experiment 2: Visual Servoing 66 4.3.1 Experiment 2-1: Repeatability Test 68 4.3.2 Experiment 2-2: Robustness test 70 4.3.3 Result and Discussion 71 4.4 Experiment 3: Arm-SLAM 78 4.4.1 Result and Discussion 81 4.5 Summary 96 Chapter 5 Conclusions and Future Work 99 5.1 Conclusions 99 5.2 Future Work 100 References 103 | - |
| dc.language.iso | en | - |
| dc.subject | Arm-SLAM | zh_TW |
| dc.subject | 虛擬阻抗控制 | zh_TW |
| dc.subject | 碰撞避免 | zh_TW |
| dc.subject | 無標記視覺伺服 | zh_TW |
| dc.subject | Virtual Impedance Control | en |
| dc.subject | Collision Avoidance | en |
| dc.subject | Arm-SLAM | en |
| dc.subject | Markerless Visual Servoing | en |
| dc.title | Arm-SLAM:機器手臂與SLAM結合之應用 | zh_TW |
| dc.title | Arm-SLAM: an Application Combining Robot Arm and SLAM | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 蔡清池;郭重顯;傅楸善 | zh_TW |
| dc.contributor.oralexamcommittee | Ching-Chih Tsai;Chung-Hsien Kuo;Chiou-Shann Fuh | en |
| dc.subject.keyword | Arm-SLAM,虛擬阻抗控制,碰撞避免,無標記視覺伺服, | zh_TW |
| dc.subject.keyword | Arm-SLAM,Virtual Impedance Control,Collision Avoidance,Markerless Visual Servoing, | en |
| dc.relation.page | 107 | - |
| dc.identifier.doi | 10.6342/NTU202402377 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2024-08-02 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| 顯示於系所單位： | 機械工程學系 | |
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