| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 102 === Having dexterous arms makes human different from other creatures. In the field of robotics, research on anthropomorphic becomes an important issue. In this work, we proposed a modularized 7-DoF dual arm robot with 3D visual perception ability. First, we derived the analytical inverse kinematics solution for both arms. Second, visual sensing is also implemented, such that the robot can recognize objects in the environment. Third, a planning algorithm is implemented to grant the robot the ability to plan the order to grasp all objects put on the working table.
We use CANopen as the communication protocol. With real time operating system to make the timer stable, the control command and motion planning algorithm become more stable. Both manipulators in this work are consisted of modularized components, which makes the assembly, wiring, and maintenance faster and more efficient. In addition, it reduces the time spent on designing different parts of the robot, thus makes the maintenance easier. Last but not least, with modularized component, the configuration of the robot can be changed easily.
When dealing with kinematics problem, traditionally numerical method was used to calculate inverse kinematics problem. However, the relationship between Cartesian space and joint space is not linear, using this method, i.e. using Jacobian matrix will cause error. Hence, we proposed an analytical inverse kinematics solution for a new configuration of 7-DoF manipulator of the modularized dual arm robot. With the solution, inverse kinematics problem can be solved faster and more accurate.
At last, with 3D environment sensing ability, making the robot be able to recognize the position of target objects then grasp it like human. Also, when there are several objects put on the working table, the robot can generate the order to grasp objects using the advantage of possessing dual arm, thus makes the grasping task finished faster.
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