數位孿生系統應用於移動型機器人

Digital Twin System Applied to Mobile Robots

陳昀仟(Yun-Chien Chen)

指導教授 ： 李世安

共同指導教授 ： 無

淡江大學/工學院/電機工程學系機器人工程碩士班/碩士(2021年)

https://doi.org/10.6846/TKU.2021.00312

摘要

本論文提出一個應用於移動型機器人的數位孿生系統設計方法。此方法能夠讓現實與數位移動型機器人之間進行同步動作。本論文設計的現實機器人係使用樹梅派(Raspberry PI)與DE0-Nano板為主要硬體控制器，其具有低成本與低功耗的優點；而數位機器人則建立於Gazebo模擬器中，讓機器人模擬能夠具有高質量的渲染效果與高性能的動作表現。本論文在現實與數位機器人皆使用機器人操作系統(Robot Operation System, ROS)作為機器人的主要操作系統。同時數位孿生機器人之間也會透過ROS進行傳輸資料與溝通。透過收集現實機器人的馬達電壓電流訊號及編碼器轉速，再利用模糊聚類(Fuzzy Clustering, FC)方法建立馬達的模糊鑑別系統。再將此馬達模糊鑑別系統應用於數位機器人上，讓數位機器人可以模擬真實馬達的狀態。根據實驗結果，證明本論文所設計的數位孿生系統確實可行。

關鍵字

數位孿生 ； 模糊聚類 ； Gazebo模擬器 ； 移動型機器人 ； 機器人操作系統

並列摘要

This thesis proposes a digital twin system design method applied to mobile robots. This method enables synchronized actions between real and digital mobile robots. The real robot system designed in this thesis uses Raspberry PI and DE0-Nano board as the main hardware controller, which has the advantages of low cost and low power consumption. The digital robot is built in the Gazebo simulator, allowing Robot simulation can have high-quality rendering effects and high-performance motion performance. In this thesis, both real and digital robots use Robot Operation System (ROS) as the main operating system of robots. At the same time, the digital twin robots will also transmit data and communicate through ROS. By collecting the motor voltage and current signals of the real robot and the encoder speed, the fuzzy clustering (FC) method is used to establish a fuzzy identification system of the motor. Then applies this motor fuzzy identification system to a digital robot, so that the digital robot can simulate the state of a real motor. According to the experimental results, it is proved that the digital twin system designed in this thesis is indeed feasible.

並列關鍵字

Digital Twin ； Fuzzy Cluster ； Gazebo simulator ； mobile robot ； Robot Operating System

參考文獻

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