直覺式遠程控制機械手臂系統;Intuitive Remote Control Robot Arm System

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题名:	直覺式遠程控制機械手臂系統;Intuitive Remote Control Robot Arm System
作者:	蔡子文;Tsai,Tzu-wen
贡献者:	資訊工程學系在職專班
关键词:	遠程機械手臂操控;感測器;穿載式;嵌入式;三度空間環境;remote-control robot arm;inertial sensors;wearable device;embedded system;3D environment
日期:	2015-07-28
上传时间:	2015-09-23 14:15:00 (UTC+8)
出版者:	國立中央大學
摘要:	由於多軸機械手臂應用發展多元，傳統的控制方法也無法應付日益複雜的工作。操作介面越直接越自然，對於學習門檻就會越低，學習時間就會越短。我們可以在個人手臂上裝置感測器來偵測人體手臂的姿態，進而控制機械手臂運動，以改善傳統操作的複雜性。在本論文的研究中，我們利用多種慣性感測器 (inertial sensors) 來感應操作者的手臂手腕姿勢，用以操控機械手臂的動作。我們所提出的系統硬體包括六軸機械手臂、MSC-8051控制單元、慣性感測元件、及攝影機。我們所使用的慣性感測元件有：(i) 陀螺儀 (gyro) 偵測手臂的上下、左右、及旋轉運動。(ii) 加速度感應器 (G-sensor) 偵測手臂的傾斜角度變化。(iii) 壓力感應器 (pressure sensor) 偵測操作的手指張合 (opening / closing)，以驅動機械手臂夾具鬆開或緊閉。(iv) 磁簧開關 (reed switch) 偵測操作者手指張開或閉合，以中斷陀螺儀的I 2C訊號。最後攝影機是拍攝機械手臂動作畫面，提供給操作者遠程觀看，以做出適當的動作操作機械手臂。本系統可以完整的感測人體手臂動作，控制機械手臂達成複雜的動作，有如夾取三度空間中的物體。 ;There are more and more applications of Multiple-Axis Robotic Arm to various fields in these decades, and the traditional control methods for robotic arm are hard to deal with these more and more complicated works. If there is a way to operate robotic arms which is close to how a person works with his arms, the operators can easily learn how to operate them and work with it quickly. The idea comes that if a person wears sensors on his arms, these sensors can record the position, move speeds, and other useful data. With these data, the robotic arms can be controlled, work as how operator wave his arms, and are much easier to be used. In this thesis, we use several sensors which are worn on a person’s arms and fingers to operate robotic arms, and these sensors detect what hands move. The system is composed by Six-Axis Robotic Arm, MSC-8051 and wearable electronic components. The wearable electronic components includes: (i) gyroscope, to detect how hands move, such as waving up, down, left, right, and rotation; (ii) acceleration sensor, to detect the angle of inclination, so that the servomotors incline the robotic arm; (iii) pressure sensor, to detect if the fingers are squeezed or relaxed, so that the clamping apparatus works as the same way to grab stuff; and (iv) reed switch, which lets operators to turn on or turn off I2C controls to gyroscope by press the switch. This system completely detects the action and gesture of human arms, and control robotic arms to do the same ways. This makes robotic arms can do complicated action such as taking things anywhere in 3 dimension space.
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