標題: | 遠端呈現於遙控機器人系統之應用 Application of Telepresence in Telerobotic System |
作者: | 葉明宇 Ming-Yu Yeh 楊谷洋 Kuu-Young Young 電控工程研究所 |
關鍵字: | 遠端呈現;遠端操作;攝影機校正;邊緣偵測;力回饋;立體成像;Telepresence;Teleoperation;Camera Calibration;edge detection |
公開日期: | 2001 |
摘要: | 在一些具有危險性或未知的環境中,我們常使用遠端操控技術來遙控機器人來完成任務。近年來,因為網路與微處理器的快速發展,將機器人控制系統與網路連接並結合虛擬實境技術,人可以在很遠的地方監視和指導機器人作業,使機器人完成過去不易或不可能完成的任務。為了要使操作者能更真實感覺到遠端環境及靈活的操控機器人,我們需要在遠端操控系統加入遠端呈現的技術,因此在本篇論文中,我們發展一結合虛擬實境的遠端呈現系統,利用各種感測器,將遠端環境視覺及觸覺資訊可以在近端呈現。在視覺方面,我們採用了較佳的邊緣偵測與轉角偵測之影像分析方法,並結合精準的攝影機校正與立體成像技術,來找出遠端物件的位置,進而更新近端虛擬實境中相對應的物件位置。在觸覺方面,透過力感測器來量測機器人接觸與碰撞的力,並將力資訊傳遞給近端,以力回饋搖桿呈現力資訊,最後,利用視覺與力資訊以輔助完成遠端操控作業。 In hazardous or uncertain environments, we usually use the teleoperation technology to manipulate a remote robot. Recently, due to the rapid development of networks and microprocessors, we can connect the robot with the network, and integrate it with the virtual system as well. Hence, the human operator can remotely supervise and instruct the robot for task execution. To let people feel remote environments more realistically and manipulate the robot more flexibly, we need to enhance telepresence in the teleoperation system. Motivated by this idea, in this thesis, we develop a system for telepresence generation, and use various sensors to display the visual and haptic information from the remote environment. With these information, the teleoperation system can be more aware of the environment and the operator can manipulate the robot more effectively in executing the task. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT900591024 http://hdl.handle.net/11536/69397 |
顯示於類別: | 畢業論文 |