虛擬機器人觸覺能力之研究

Abstract

在本篇論文中，我們利用量測的力資料使虛擬機器人感受到真實機 器人的感覺。 〝感覺〞的產生是發展虛擬遙距操控系統中重要的一部 份，使得操控者更能利用力資料來處理精巧和順應性動作。我們首先在 Mitsubishi RV-M2機器人上裝上一JR3力感測器，當真實機器手臂碰撞真 實環境中的障礙物時，我們根據量測的力資料來產生不同形變的虛擬障礙 物，這樣我們就能使得在遙距操控系統的虛擬環境中，虛擬機器手臂碰撞 虛擬障礙物的過程更真實。我們首先進行力感測器的校正，而此力感測器 事實上是部份故障。之後，我們做了三個實驗來了解在不同的速度下，力 和轉矩在感測器各軸的分佈。然後，我們利用感測器的力資料在所發展的 虛擬模擬環境中，來進行機器人碰撞障礙物的變形過程的模仿。雖然此系 統在及時、連線的要求下仍有些問題，但我們的結果展現了所提出〝感覺 〞系統的可行性。 In this thesis, we intend to make a VR robot feel what a real robot feelsby using force measurement data. The generation of this "feel" function is part of the effort to develop a more realistic VR teleoperation system, so that force information can be incorporated to help the operator in deling with delicate and compliant motions. We first mount a JR3 force sensor on the Mitsubishi RV-M2 type robot manipulator. When the real manipulator collides with obstacles in the real environment, we record the force data and generate VR objects deformed in different levels according to these force data. Thus, we canhave the VR teleoperation system in which the VR manipulator can collide into the VR obstacle in the VR environment with a realistic deforming process. Due to the partial malfunction status of the force sensor, we need to perform sensor identification under special consideration. After sensor identification,we usedthree experiments to find out the distributions of force and moment on the sensor's six axes and the effects of collision under different operating velocities. We then developed a VR simulation environment to emulate the VRobject deforming process by using data from the force sensor. The resultsdemonstrate the feasibility of the proposed "feeling" system, although problemsfor making a real-time, on-line system are still present.