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研究生: 葉柏超
Yeh, Po-Chao
論文名稱: 具自主學習與修正之中文書法機器手臂的設計與實現
Design and Implementation of Chinese Calligraphy-Writing Robot with Autonomous Learning and Correction
指導教授: 王偉彥
Wang, Wei-Yen
口試委員: 王坤卿
Wang, Kun-Ching
陳翔傑
Chen, Hsiang-Chieh
王偉彥
Wang, Wei-Yen
蔣欣翰
Chiang, Hsin-Han
口試日期: 2022/01/06
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: 2022
畢業學年度: 110
語文別: 中文
論文頁數: 105
中文關鍵詞: 並聯式機器手臂中文書法寫字系統假設生成網路自主學習影像轉換動作
英文關鍵詞: Delta Robot, Chinese Calligraphy-Writing System, Hypothesis Generation Net, Self-Learning, Image to Action translation
研究方法: 實驗設計法
DOI URL: http://doi.org/10.6345/NTNU202200891
論文種類: 學術論文
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  • 第一章 緒論 1 1.1 研究動機與背景 1 1.2 研究目的 2 1.2.1 中文書法寫字系統改善 2 1.2.2 假設生成網路(HGN)實作驗證 3 1.3 研究方法 4 1.4 研究架構 5 第二章 文獻探討 6 2.1 並聯式機器手臂(Delta Robot)簡介 6 2.2 正向、逆向運動學 數學式推導(Delta Robot Kinematics) 8 2.2.1 正向運動學 12 2.2.2 逆向運動學 16 2.2.3 毛筆筆尖座標修正 22 2.3 中文書法寫字機器人簡介 24 2.4 假設生成網路(Hypothesis Generation Net) 簡介 26 2.5 圖形分群(k-means) 28 2.6 旋轉矩陣 29 2.7 影像特徵轉換 30 2.8 線性回歸(Linear Regression) 33 2.9 誤差收斂與優化 36 第三章 研究設計 37 3.1 實驗條件與環境 37 3.1.1 並聯式機器手臂硬體架構 37 3.1.2 並聯式機器手臂硬體組裝過程 42 3.1.3 控制軟體平台 43 3.1.4 並聯式機器手臂工作區軟體模擬 44 3.2 實驗過程步驟 (書法寫字系統程式流程) 46 3.2.1 假設生成網路訓練 46 3.2.2 中文書法寫字系統主要運作流程 49 3.2.3 寫字系統筆畫輸入細部流程 50 3.2.4 並聯式機器手臂(Delta Robot)寫字細部流程 52 3.2.5 筆畫路徑誤差計算與修正流程 53 3.3 實驗相關函式演算法 57 3.3.1 筆畫處理函式 57 3.3.2 座標轉換函式 64 3.3.3 矩陣運算函式 64 3.3.4 軸卡控制函式 65 3.3.5 筆畫骨架路徑誤差計算與修正函式 66 第四章 研究結果 68 4.1 假設生成網路(HGN)訓練實驗結果 68 4.1.1 HGN訓練輸入目標筆畫 68 4.1.2 機器手臂書寫筆畫結果(摘錄) 69 4.1.3 HGN筆畫訓練誤差計算結果 74 4.2 Delta Robot中文書法寫字系統實驗數據 76 4.2.1 中文書法筆畫輸入 76 4.2.2 機器手臂書寫永字筆畫過程影像 78 4.2.3 筆畫骨架影像與座標矩陣(摘錄) 79 4.2.4 書寫永字筆畫誤差修正結果 81 4.3 問題討論 83 4.4 實驗誤差 86 4.5 分析比較 87 第五章 研究結論與未來展望 89 5.1 總結整理 89 5.2 未來展望 89 參考文獻 90 附 錄 一 93 附 錄 二 98 附 錄 三 99 附 錄 四 100 附 錄 五 101 自 傳 104 學術成就 105

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