基於人類演示學習之機械手臂自動化控制技術

Towards the Flexible Automation Robot Control Technology through Learning from Human Demonstration

陳境浩(Chen Jing-Hao)

指導教授 ： 蔣欣翰 ； 許陳鑑

國立臺灣師範大學/科技與工程學院/電機工程學系/碩士(2019年)

https://doi.org/10.6345/NTNU201900906

摘要

本論文主要針對具有彈性自動化的機器人發展與應用，提出了一種基於人類演示學習的機械手臂控制系統，其目的在於降低機械手臂自動化所需要的程式編譯複雜程度，以及增加多種操作功能開發的效率。硬體方面使用六軸串列式機械手臂作為實驗平台，搭配使用一台網路攝影機和一台深度攝影機蒐集影像資訊，在示教學習過程中對於人類演示動作及操作物件進行影像處理。軟體方面，經由深度攝影機偵測之人體骨架資訊，本論文透過正逆向運動學將人類演示的動作轉換成控制機械手臂的關節角度，並建立機械手臂運動控制模組。此外，基於YOLO(You only look once)演算法在多物件偵測具有快速及正確的優點，本論文使用此演算法開發操作物件偵測與辨識，在得出目標物件的類別資訊及所在位置之後，機械手臂可依照物件的種類啟動對應的運動控制模組，目標在於重現人類演示學習所示範的任務。最後，本論文經由所建置之虛擬環境和實際自動取放實驗來驗證所發展之機械手臂演示學習技術之可行性。

關鍵字

人類演示學習 ； 機械手臂 ； 機器視覺 ； 人工智慧 ； 人機互動

並列摘要

In order to contribute to the development and application of flexible automation using robots, this thesis aims to propose a robotic arm control system through learning from human demonstration (LfHD). The developed system is also anticipated to reduce the complexity of program compilation and increase the efficiency of several robot function developments. The hardware uses a six-axis tandem robotic arm as the experimental platform, and uses a webcam and a depth camera to observe the human demonstration for object manipulation. In terms of software, the Kinect 2 depth camera is used to detect the human skeleton, and the demonstrated actions by humans are converted into the controlled angle of the robot arm by forward and backward kinematics, which is established into the motion control module. In addition, based on the YOLO (You only look once) algorithm that is extremely fast and accurate in multiple objects detection, this thesis designs the recognition module to identify the type and position of the target objects while being manipulated in the human demonstration. After that, the system activates the motion control module in accordance with the object type and then completes the imitation task of human demonstration. Finally, through the build virtual reality simulation and the real experiment under the pick and place operation, the feasibility of the proposed LfHD for robotic manipulation can be verified.

並列關鍵字

Learning from human demonstration ； Robotic arm ； Machine vision ； Artificial intelligence ； Human-robot interaction

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