簡易檢索 / 詳目顯示

研究生: 邱軒博
Chiu, Hsuan-Po
論文名稱: 全向移動平台結合機械手臂動態物件追蹤
Omni-directional Mobile Platform combined with Robotic Arm Dynamic Object Tracking
指導教授: 呂藝光
Leu, Yih-Guang
口試委員: 呂藝光
Leu, Yih-Guang
吳政郎
Wu, Jenq-Lang
陶金旺
Tao, Chin-Wang
張原彰
Chang, Yuan-Chang
陳松雄
Chen, Song-Shyong
口試日期: 2024/07/30
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2024
畢業學年度: 112
語文別: 中文
論文頁數: 74
中文關鍵詞: 全向移動平台機械手臂雙目測距物件追蹤
英文關鍵詞: Omnidirectional mobile, Robotic Arm, Binocular ranging, Object Tracking
研究方法: 實驗設計法行動研究法比較研究
DOI URL: http://doi.org/10.6345/NTNU202401619
論文種類: 學術論文
相關次數: 點閱:45下載:3
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報
  • 全向移動平台(Omnidirectional Mobile Platform)是一種具有全方向移動能力的移動平台,比起傳統的四輪平台更加靈活且複雜。本文自行設計此移動平台並結合機械手臂與影像辨識系統,並整合軟、硬體功能,最後使其能夠模擬一些簡單的人體動作。
    在機械手臂方面,描述了手臂的運動模型,取得末端的位置座標;在影像辨識上,利用雙目測距取得球體的世界座標;再將機械手臂與雙目估計的座標整合,最後透過拋物線運動方程式以及類神經網路預測其落點。
    最後通過實驗結果證明所提出的方法可以整合不同的座標系,且可以追蹤球體的座標,及時回傳並移動到預測落點的位置,再控制機械手臂到實際球體落下位置完成接球動作。

    The omnidirectional mobile platform is a type of mobile platform with omnidirectional movement capability, making it more agile and complex compared to traditional four-wheeled platforms. This thesis, designed this mobile platform and integrated it with a robotic arm and an image recognition system to simulate some simple human movements.
    In the field of robotic arms, the motion model of the arm is described to obtain the coordinates of the end effector. In image recognition, binocular distance measurement is used to obtain the world coordinates of the ball. The coordinates estimated by the binocular vision system are then integrated with the robotic arm's coordinates. Finally, through the projectile motion equation and neural network, the landing point of the ball is predicted.
    The experimental results prove that the proposed method can integrate different coordinate systems, and track the coordinates of the sphere, return it in time and move it to the predicted landing point, and then control the robotic arm to the landing position of the sphere to complete the catching action.

    誌 謝 i 摘 要 ii ABSTRACT iii 目 錄 iv 圖 目 錄 vii 表 目 錄 ix 第一章  緒論 1 1.1 研究動機與背景 1 1.2 研究目的 2 1.3 研究方法 3 1.4 論文架構 3 第二章  文獻探討 4 2.1 機械手臂之演進 4 2.2 機械手臂之運動模型 5 2.3 動態物件追蹤 7 第三章  軟、硬體系統架構與設計 10 3.1 系統架構 11 3.2 硬體設備 11 3.3 軟體架構 13 3.3.1 動態物件追蹤系統 14 3.3.2 全向移動平台機械手臂控制系統 15 第四章  動態物件追蹤方法與座標整合 16 4.1 深度估計方法 16 4.1.1 雙目測距 16 4.1.2 相機內部參數 17 4.1.3 相機外部參數 19 4.1.4 立體視覺校正 20 4.1.5 特徵提取 20 4.1.6 視差計算 21 4.1.7 三角測量 22 4.2 水平與垂直位置估計方法 24 4.2.1 多項式擬合 24 4.3 落點位置分析 29 4.3.1 拋物線運動 29 4.3.2 類神經網路 33 4.4 座標整合 36 4.4.1 機械手臂座標轉換 36 4.4.1.1 順向運動學 37 4.4.1.2 逆向運動學 39 4.4.2 雙目辨識座標轉換 41 4.4.3 移動平台座標轉換 41 4.4.4 座標整合 44 第五章  實驗與分析 45 5.1 落點預測實驗 45 5.2 移動平台特性實驗 51 5.3 移動平台結合動態物件追蹤接球實驗 53 5.4 機械手臂接球實驗 59 5.5 移動平台結合機械手臂接球實驗(九個區塊) 62 5.6 移動平台結合機械手臂接球實驗(三個區塊) 68 第六章  結論與展望 71 6.1 結論 71 6.2 未來展望 71 參 考 文 獻 72

    [1] Industrial autonomous robots, from https://www.masindustria.es/
    [2] B. Zhao, H. Yu, J. Yu, H. Wu, X. Liu and X. Xu, "Induction motor drive control for Gantry robot position," 2018 Chinese Control And Decision Conference (CCDC), Shenyang, China, 2018, pp. 4403-4408.
    [3] C. Zhang and Z. Zhang, "Modelling and Simulation of SCARA Robot using MATLAB/SimMechanics," 2019 IEEE 3rd Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC), Chongqing, China, 2019, pp. 516-519.
    [4] Y. Pan, J. Tang, Q. Zhao and S. Zhu, "Forward and Inverse Kinematics Modeling and Simulation of Six-axis Joint Robot Arm Based on Exponential Product Method," 2020 IEEE 3rd International Conference on Automation, Electronics and Electrical Engineering (AUTEEE), Shenyang, China, 2020, pp. 372-375.
    [5] S. Phukan and C. Mahanta, "Position Synchronization Control of a 3DoF Dual Arm Robotic Manipulator System using Integral Sliding Mode," 2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Bangkok, Thailand, 2019, pp. 439-444.
    [6] H. Man, N. Ge and L. Xu, "Intelligent Motion Control Method Based on Directional Drive for 3-DOF Robotic Arm," 2021 5th International Conference on Robotics and Automation Sciences (ICRAS), Wuhan, China, 2021, pp. 144-149..
    [7] Analysis and application of control theory of six-axis robotic arm, from https://www.epcio.com.tw/paper/%E5%85%AD%E8%BB%B8%E6%A9%9F%E6%A2%B0%E8%87%82%E4%B9%8B%E6%8E%A7%E5%88%B6%E7%90%86%E8%AB%96%E5%88%86%E6%9E%90%E8%88%87%E6%87%89%E7%94%A8.pdf
    [8] C. Srinivasamurthy, R. SivaVenkatesh and R. Gunasundari, "Six-Axis Robotic Arm Integration with Computer Vision for Autonomous Object Detection using TensorFlow," 2023 Second International Conference on Advances in Computational Intelligence and Communication (ICACIC), Puducherry, India, 2023, pp. 1-6.
    [9] J. Dong, L. Deng, D. Wan and H. Liu, "Research and Simulation of Intelligent Grasping of Robotic Arm Based on Machine Vision Recognition," 2024 IEEE 4th International Conference on Power, Electronics and Computer Applications (ICPECA), Shenyang, China, 2024, pp. 1085-1089..
    [10] A. A. Mohammed, H. R. Abdul Ameer and D. S. Abdul-Zahra, "Design of a Linear Mathematical Model to Control the Manipulator of a Robotic Arm with a Hexagonal Degree of Freedom," 2022 3rd Information Technology To Enhance e-learning and Other Application (IT-ELA), Baghdad, Iraq, 2022, pp. 181-185.
    [11] X. Zhang and S. Xu, "Research on Image Processing Technology of Computer Vision Algorithm," 2020 International Conference on Computer Vision, Image and Deep Learning (CVIDL), Chongqing, China, 2020, pp. 122-124.
    [12] H. Yanagisawa, T. Yamashita and H. Watanabe, "A study on object detection method from manga images using CNN," 2018 International Workshop on Advanced Image Technology (IWAIT), Chiang Mai, Thailand, 2018, pp. 1-4.
    [13] A. Anish, S. R, A. H. Malini and T. Archana, "Enhancing Surveillance Systems with YOLO Algorithm for Real-Time Object Detection and Tracking," 2023 2nd International Conference on Automation, Computing and Renewable Systems (ICACRS), Pudukkottai, India, 2023, pp. 1254-1257.
    [14] S. Gobhinath, S. Sophia, S. Karthikeyan and K. Janani, "Dynamic Objects Detection and Tracking from Videos for Surveillance Applications," 2022 8th International Conference on Advanced Computing and Communication Systems (ICACCS), Coimbatore, India, 2022, pp. 419-422.
    [15] E. DANDIL and K. K. ÇEVİK, "Computer Vision Based Distance Measurement System using Stereo Camera View," 2019 3rd International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT), Ankara, Turkey, 2019, pp. 1-4.
    [16] A. Fetić, D. Jurić and D. Osmanković, "The procedure of a camera calibration using Camera Calibration Toolbox for MATLAB," 2012 Proceedings of the 35th International Convention MIPRO, Opatija, Croatia, 2012, pp. 1752-1757.
    [17] Guo Yan Xu, Li Peng Chen and Feng Gao, "Study on binocular stereo camera calibration method," 2011 International Conference on Image Analysis and Signal Processing, Hubei, 2011, pp. 133-137.
    [18] HT32F52342_datasheet, from https://www.holtek.com.tw/WebAPI/11842/HT32F52342_52_Datasheetv150.pdf/448fb111-4158-4893-9d88-60f02ed96526
    [19] MG995_datasheet, from https://www.electronicoscaldas.com/datasheet/MG995_Tower-Pro.pdf
    [20] S. Zhang, C. Wang and S. C. Chan, "A new high resolution depth map estimation system using stereo vision and depth sensing device," 2013 IEEE 9th International Colloquium on Signal Processing and its Applications, Kuala Lumpur, Malaysia, 2013, pp. 49-53.
    [21] M. Zheng, Z. Wang, H. Li and J. Lu, "Study of binocular parallax estimation algorithms with different focal lengths," 2023 IEEE 2nd International Conference on Electrical Engineering, Big Data and Algorithms (EEBDA), Changchun, China, 2023, pp. 1226-1229.
    [22] A. Pareek and L. Gidwani, "Measured data of daily global solar irradiation using curve-fitting methods," 2015 International Conference on Energy Systems and Applications, Pune, India, 2015, pp. 561-565.
    [23] Z. -A. Zhang and X. -Y. Lei, "An accurate prediction of the correction point of trajectory correction projectile based on time window technique," 2017 36th Chinese Control Conference (CCC), Dalian, China, 2017, pp. 6281-6286.
    [24] H. -I. Lin and Y. -C. Huang, "Ball Trajectory Tracking and Prediction for a Ping-Pong Robot," 2019 9th International Conference on Information Science and Technology (ICIST), Hulunbuir, China, 2019, pp. 222-227.
    [25] A. Khan, C. Xiangming, Z. Xingxing and W. L. Quan, "Closed form inverse kinematics solution for 6-DOF underwater manipulator," 2015 International Conference on Fluid Power and Mechatronics (FPM), Harbin, China, 2015, pp. 1171-1176.
    [26] Z. Li, X. Zhao, X. Wang, Q. Hu and H. Zhou, "9-DOF Serial Robotic Arm for Space Environments and Its Inverse Kinematics Analysis*," 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-7.
    [27] J. Inthiam and C. Deelertpaiboon, "Self-localization and navigation of holonomic mobile robot using omni-directional wheel odometry," TENCON 2014 - 2014 IEEE Region 10 Conference, Bangkok, Thailand, 2014, pp. 1-5.
    [28] Parabolic motion, from https://zetria.tw/physics/a380e04c2c

    下載圖示
    QR CODE