https://scholars.lib.ntu.edu.tw/handle/123456789/150616
標題: | 設計機械手臂ACL-II用於行動機器人及其應用 Design of Robotic Arm ACL-II for Mobile Robots and Its Application |
作者: | 陳柏男 Chen, Po-Nan |
關鍵字: | 機械手臂;人機互動;運動學;動力學;運動控制;Robotic Arm;Human-Robot Interaction;kinematics;Dynamics;Motion Control | 公開日期: | 2009 | 摘要: | 當機器人從與世隔絕的工業與軍事應用走向人類社會,如何與人類進行友善的互動便顯的相當重要。人機互動的領域之中,使用機械手臂表達機器人的情緒並與人類溝通是一個十分重要且基本的方式。而人類與機器人之間使用機械手臂直接達成靈活的互動,並展現有效率的合作也是一個重要範疇。為上述的理由,我們設計並製作了一雙靈巧且輕量的機械手臂ACL-II裝置於機器人Julia身上。有了這雙手臂,機器人便可以產生手勢來表達情感,甚至可以協助人類的日常生活。這篇論文裡,我們將會介紹這雙手臂的機構設計,運動學,動力學,以及運動控制。除此之外,我們將會展示機器人與人類之間,直接且有效率的傳遞物品。過這樣的人機互動,人類和機器人都可以輕易的透過自身的能力達成任務。 As robots enter the human society form the cloisters of industrial and military applications, it will be important for them to interact with human beings friendly. In human-robot interaction, one of the fundamental ways to communicate and express emotions is using arm’s pose, and another to coordinate activity and cooperatively perform useful work is to use robotic arms directly working with the others.or this reason, we design and physically build a pair of dexterous and light-weight robotic arms, called ACL-II, which are mounted on the robot “Julia”, a home service robot built by our laboratory earlier. With the arm, the robot will be able to generate emotional gestures and even assist a person in everyday tasks. This thesis starts with mechanism design, kinematics and dynamics analysis, and then ends by developing motion control of this arm. Moreover, we demonstrate the efficacy of our design by physical building of the arms and real experiment with applying the arm to handing objects to humans. Through this interaction, human and robot can easily accomplish the tasks together. |
URI: | http://ntur.lib.ntu.edu.tw//handle/246246/188056 |
顯示於: | 電機工程學系 |
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ntu-98-J96921015-1.pdf | 23.32 kB | Adobe PDF | 檢視/開啟 |
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