标题: | 结合网路与虚拟实境之远端机器人系统:阻抗性控制与视觉系统 A Networked VR-Based Telerobotic System: Impedance Control and Vision System |
作者: | 胡铉宗 Hsuan-Tsung Hu 杨谷洋 Kuu-Young Young 电控工程研究所 |
关键字: | 机器人;远端操控;虚拟实境;顺应性控制;阻抗性控制;适应性阻抗控制;视觉系统;网路;robot;teleoperation;VR;compliance control;impedance control;adaptive impedance control;vision system;network |
公开日期: | 1999 |
摘要: | 在一些未知的或是具有危险性的环境中,我们可以使用机器人与远端操控技巧来帮助我们完成任务。一方面我们藉由虚拟实境技术来提供远端环境三维场景的视觉感受,另一方面,我们藉由装设在机器人末端的力感测器来侦测机器人与环境接触时所产生的接触力,并回授至操作端使我们同时也能感受到操作过程的接触力。此外,当我们操作机器人来执行顺应性工作时,机器人末端点位置以及机器人与环境所产生的接触力两者之间的互动变得更为重要,所以系统必须拥有更有效的顺应性控制技术。因此在本篇论文中,我们针对系统所使用的位置伺服控制机器人,运用两种适应性阻抗控制法则,在不须要知道环境的位置与硬度的情况下,得到机器人的参考位置轨迹以达到所指定的接触力。另外,视觉系统被也纳入此遥控机器人系统来完成真实环境中物体的定位以及识别。我们也透过几项实验来验证控制策略的可行性,以及系统执行顺应性工作的能力。 For hazardous or uncertain environments, such as the nuclear power plants or the outer space, the robot combined with the teleoperation technique is helpful for the human in task execution. For the proposed telerobotic system, virtual reality technology is introduced into the system to provide 3D visual display of the remote environment. In addition, the contact force between the robot and the environment is sensed by the force sensor mounted on the robot's end-effector, and fedback to the master site. Therefore, the operator can also feel the interactive force during teleoperation. Furthermore, when we manipulate the robot to execute a compliance task, the treatment of the interaction between the robot and environment is very important, so that there must be some effective compliance control schemes in the system. In this thesis, two adaptive impedance control schemes are introduced for the position-controlled robot in our system. By applying these impedance control schemes, the desired contact force can be achieved by the generated reference position trajectory for the robot manipulator, without the information of environmental location and stiffness. In addition, a vision system is incorporated into the system to accomplish the localization and identification of the objects in the real environment. We also evaluate system performance through several experiments. The results demonstrate the feasibility of the control schemes and the capability of the system in compliance task execution. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT880591077 http://hdl.handle.net/11536/66310 |
显示于类别: | Thesis |