手掌手臂系統之規劃與控制整合

本篇論文目的是改進機械手掌的抓取策略與力量控制及手掌手臂系統的規劃與控制。主要可分為兩個部分，第一部分是歸納出穩定抓取的條件並利用適當的假設簡化穩定條件算法提出抓取策略。並運用阻抗控制將其運用在NTU-Hand V。第二部分是延伸機械手掌至整個手掌手臂系統。首先我們描述了如何生成理想的抓握軌跡，並建立了四個階段來規劃手掌手臂系統。接著解釋如何控制手掌手臂系統及我們使用的硬體架構。最後示範將整個系統與控制在裝配了NTU-Hand V 和NTU 機械手 V的全人型機器人NINO上，並用NINO來完成開門任務。此手掌手臂系統發展可運用到日常生活中行動式機器人或人形機器人上來進行抓取及操作任務。

關鍵字

機械手；手掌手臂系統；抓握；阻抗控制

並列摘要

This thesis is aimed to improve robot hand grasping strategy, force control, and hand-arm system planning and control. It is divided into two parts: the first part generalizes the stable conditions for grasping and uses some assumptions to simplify the equations describing stable conditions to propose a new grasping strategy. We use a grasping strategy based on impedance control with fingertip tactile sensors to control NTU-Hand V. The second part of this thesis extends our examination of robot hand action to the full robot hand-arm system. We describe how to generate an ideal grasp trajectory and establish four stages in planning the hand-arm system motion. Next, we explain how to control the arm-hand system and our hardware system. Finally, we demonstrate the whole system and control loop by illustrating how our humanoid robot, NINO, with NTU-Hand V and NTU robot arm V, would open a door, combining grasping control with arm-hand planning. Applying this research to arm-hand development, we can implement robot hand-arm systems in mobile robots or humanoid robots to perform grasping or manipulating tasks to improve humans’ daily lives.

並列關鍵字

Robot hand ； Hand-Arm system ； Grasping ； Impedance control

參考文獻

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[51] A. Saxena, J. Driemeyer, and A. Y. Ng, "Robotic Grasping of Novel Objects Using Vision," The International Journal of Robotics Research, Vol. 27, No. 2, pp. 157-173, 2008.

[1] E. Al-Gallaf, "Multi-fingered Robot Hand Optimal Task Force Distribution: Neural Inverse Kinematics Approach," Robotics and Autonomous Systems, Vol. 54, No. 1, pp. 34-51, 2006.

[2] E. Al-Gallaf, "Neurofuzzy Inverse Jacobian Mapping for Multi-finger Robot Hand Control," Journal of Intelligent and Robotic Systems, Vol. 39, No. 1, pp. 17-42, 2004.

[3] J. Aleotti and S. Caselli, "Grasp Recognition in Virtual Reality for Robot Pregrasp Planning by Demonstration," Proc. of IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, pp. 2801-2806, 2006.

國際替代計量

手掌手臂系統之規劃與控制整合

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