雙臂機器人之任務導向的夾取與工具操作

Task-Oriented Grasping and Tool Manipulation for Dual-Arm Robot

賴宥澄(Yu-Cheng Lai)

指導教授 ： 翁慶昌

共同指導教授 ： 蔡奇謚(Chi-Yi Tsai)

淡江大學/工學院/機器人博士學位學程/博士(2020年)

https://doi.org/10.6846/TKU.2020.00107

摘要

本論文之主要目的在於透過整合深度學習與機器人學方法，使雙臂機器人能夠對生活中常見之物件進行拿取，以其功能點作為新的工具中心點來執行任務，並避免在執行任務過程中遭遇硬體極限。主要有三個部分：(1) 冗餘機械手臂之運動控制、(2) 任務導向之夾取、以及(3) 雙臂機器人之工具操作規劃。在冗餘機械手臂之運動控制上，本論文提出了一套零空間運動控制方法，搭配所提出的目標函數，能夠使冗餘機械手臂在執行任務的過程中，透過所具有的零空間特性，來即時的迴避關節極限和奇異點之硬體極限。在任務導向之夾取上，本論文提出了一套結合兩個神經網路的夾取姿態估測方法，並透過所設計之目標函數來同時偵測物件之可被夾取的承擔特質，以及其在多機械手臂場域中的最佳夾取姿態。在雙臂機器人之工具操作規劃上，本論文提出了一套基於視覺的工具中心點估測與校正方法來偵測物件可作為工具的承擔特質，並在計算出其適合的工具功能點後，以其作為機械手臂之新的工具中心點來執行任務。在實驗結果上，本論文將所提方法實現於實驗室所自行開發之雙臂機器人上，說明所提出的方法確實使雙臂機器人能夠自主地夾取寶特瓶與杯子的瓶身，然後分別以瓶口與杯口為左臂和右臂之新的工具中心點來穩定地完成倒水任務。由一些模擬與實驗結果可看出本論文所提出之方法確實具有不錯的控制效果。

關鍵字

雙臂機器人 ； 零空間 ； 姿態估測 ； 任務導向的夾取 ； 工具操作

並列摘要

The target of this dissertation is to integrate methods of deep learning and robotics to let a dual-arm robot can grasp everyday objects, manipulate its function point as a new tool center point (TCP) to execute the task, and avoid encountering hardware limits in the process of performing tasks. There are three main parts: (1) motion control of redundant robot manipulator, (2) task-oriented grasping, and (3) tool manipulation planning of dual-arm robot. In motion control of redundant robot manipulator, a motion control method and an objective function are designed to make redundant robot manipulator to avoid the hardware limits, including joint limit and singularity by its null space characteristic. In task-oriented grasping, a method that combined two neural networks and an objective function are designed to detect both graspable affordance of object and its best grasp poses for multiple robotic arms. In tool manipulation planning of dual-arm robot, a vision based method for TCP estimation and TCP calibration are proposed to detect the functional point and calibrate it as a new TCP to execute task. In experiment results, the proposed methods are implemented on a lab-made dual-arm robot to illustrate that the proposed methods do enable the dual-arm robot autonomously grasp the body of bottle and cup, and then the mouth of the bottle and the mouth of the cup are respectively as new tool center points of the left-arm and right-arm to stably complete the task of pouring water. It can be seen from some simulation and experimental results that the methods proposed in this dissertation have good control effects.

並列關鍵字

Dual-Arm Robot ； Null Space ； Pose Estimation ； Task-Oriented Grasping ； Tool Manipulation

參考文獻

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