碩士 / 國立中興大學 / 電機工程學系所 / 96 / This thesis presents methodologies and techniques for system design, object distance calculation, behavior-based navigation, forward and inverse kinematics of a home-service robot with two seven-degrees-of-freedom arms and one three-wheeled omnidirectional mobile platform. The mechanical structure of the dual arms is described as well, and depth images are employed to determine the distances between objects and a stereo vision system. A fuzzy–Kohonen clustering network (FKCN) with laser directional weights is proposed to navigate the robot, in order to have fast responses in an unknown indoor flat environment; this navigation method is then implemented and tested on the home service robot. A kinematics model of the dual arms is derived for find the resultant postures of two effectors on the two arms if all joint angles are known. To cope with the inverse kinematics of the dual-arm, a Jacobian matrix related to the motion rates of the end effectors and the rotation rates of all joints is developed to solve for the redundancy problem of the dual arms by incorporating two constraints for obstacle avoidance and joint limit constrains. Computer simulations and experimental results are conducted to verify the feasibility and efficacy of the proposed methods.
| Identifer | oai:union.ndltd.org:TW/096NCHU5441076 |
| Date | January 2008 |
| Creators | Chin-Cheng Chen, 陳金成 |
| Contributors | 蔡清池 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 98 |
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