結合網路與虛擬實境之遠端機器人系統：通訊及系統實現

Abstract

現今，遠端操控系統已被應用於具有危險性或是人類無法到達的環境中，例如：核電廠、爆炸性區域、外太空、或深海。此外，機器人並沒有足夠的能力來獨自完成一些複雜的任務。因此人類仍然必需參與控制。為了使操作者能感覺身處遠端環境而提昇操控性，我們將虛擬實境技術引入遠端操控系統中。在這篇論文中，我們以主/從多緒分散式架構完成一網路虛擬實境之遠端操控機器人系統。此系統亦提供了虛擬實境及遠端實景的視覺回饋、力感回饋、即時運算能力、和網際網路通訊能力。我們透過Peg-in-Hole實驗來評估系統性能。我們也利用任務完成時間、總接觸力、平均接觸力、以及前三者的標準差來分析在遠端操控機器人系統中人類經由不同的感知回饋所造成的影響。

Nowadays, teleoperation has been used in environments which may be hazardous or inaccessible for human, such as dangerous rooms in a nuclear plant, explosive area, outer space, under water, etc. Additionally, for many complex tasks, robots may not have sufficient capabilities to perform them with full autonomy. Therefore, the operator is still needed in the control loop. To make the operator feel present at the remote environment and enhance the manipulation, virtual reality technology is introduced into the teleoperation system. In this thesis, we have developed a networked VR-based telerobotic system, which is implemented using a master/slave multithread distributed architecture. The proposed system provides the VR or real scene image visual feedback, the force reflection, the real-time computation ability, and the Internet communication ability. We also evaluate this system performance through the peg-in-hole experiments. And we analyze the influence of different sensorial channels of human on telerobotic by evaluating the task completion time, the total contact force, the average contact force, and their standard deviation. 2 Proposed Telerobotic System 2.1 Main Modules 2.1.1 VR I/O Devices 2.1.2 VR Engine 2.1.3 Slave Robot and Sensors 2.2 System Organization 2.3 System Operation Modes 3 Hardware Implementation 3.1 Slave Robot Manipulator 3.2 Force Reflection Joystick 3.3 Force Sensor 3.4 Vision Device 4 Software Implementation 4.1 3D-Object Geometric Modeling 4.2 VR Simulation Management 4.3 Dynamic Modeling for Objects and Environments 4.4 Multithreaded Programming 4.5 Image Processing 5 Communication Implementation 5.1 Internet Communication 5.2 Serial Port Communication 6 Experiment 6.1 Design and Procedure 6.2 Result and Analysis 7 Conclusion 7.1 Future Works Bibliography