利用平面投影轉換視覺伺服之智慧型行動機器人的物件搬運控制設計

本論文研究的智慧型移動機器人系統，可以將物體從一個地方帶到另一個地方。此系統包含一個用於移動整個系統的車輛、一個用於拾取和放置物體的機械手臂以及一個用於收集影像資訊的相機。本論文的主要貢獻在於僅使用一台相機就可以實現車輛的移動和機械手臂的取放。此系統的控制設計可以分為車輛控制和機械臂控制兩部分。在車輛控制部分，車輛可以在抓取平台或放置平台附近搜尋目標標誌，並將系統移動到目標標誌的所在地進行抓取或放置。此外，當機械手臂試圖夾取目標物體時，車輛可以微調其位置，以確保物體在機械手臂可接受的工作空間內。對於機械手臂控制部分，當車輛到達目標位置後，機械手臂可以搜索物體上的標籤進行抓取。然後，使用平面投影轉換視覺伺服技術利用特徵點和相機內在矩陣，在夾取物體之前將機械手臂的夾爪帶到指定位置。此外，在雅可比矩陣的幫助下，夾爪可以下降並拾取目標物體。最後，此系統能夠將物體放置在放置平台上。模擬和實驗顯示，此系統可以移動到所需的位置，即使物體處於不同的方向也能拾取物體並正確放置物體。

關鍵字

電腦視覺系統；機械手；移動機器人；影像伺服

並列摘要

This thesis develops an intelligent mobile robot system which can bring the specified object from one place to another. The proposed object delivering system mainly contains a vehicle to move the whole system, a robotic arm to pick and place the object, and a camera to collect the image information. The major contribution of this thesis is that only one camera is employed to achieve the objectives of movement of vehicle and pick-and-place of robotic manipulator. In general, the control design of this object delivering system can be roughly divided into two parts, including vehicle control and robotic arm control. For the part of vehicle control, the vehicle can automatically search the desired target sign beside the grasping platform or the placing platform. Then, it can move the system to the desired destination with the specified target sign for grasping or placing. In addition, when the robotic arm is trying to pick up the target object, the vehicle can slightly adjust its position to make sure that the object is within the acceptable workspace of the robotic arm. For the part of robotic arm control, the robotic arm can search the specific tag on the object after the vehicle arrives the appropriate position for grasping. Then, the 2D homography-based visual servoing technique employs feature points and the camera intrinsic matrix to bring the end-effector of the robotic arm to a specified position before grasping the object. In addition, with the help of manipulator Jacobian matrix, the gripper can pick up the desired object and place it at the destination properly. Some simulation and experimental results are given to show that this proposed object delivering system can reach the desired position, pick up the object with different orientations and place it at the final destination effectively.