| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 104 === Mobile manipulation robots can provide an extended workspace of applications comparing to standard fixed-base manipulators. A mobile platform cannot always guarantee the accuracy of an end-effector task even attached with a highly precise ma-nipulator. The accuracy of the manipulator is greatly relied on the stability of the mo-bile platform. It is necessary to consider the relationship between the mobile platform and the manipulator. In this thesis, we discuss two main sources of errors caused insta-bility and find the solutions to resolve these: 1) the slip phenomenon on the wheels and 2) the oblique phenomenon of the mobile platform with current manipulator transfor-mation. We propose an on-line adaptive method with the configuration change of the manipulator to reduce the error caused by the instability of the mobile platform. To improve the performance of our system with close loop control, we use Kinect as an observation feedback system to keep updating the error caused by uncertainty. To evaluate our system, we first test our slippage model resisting to the slippage problem when moving. Then, we also individually test the oblique model with oblique phe-nomenon while the manipulating. At last, we operate mobile system and manipulation system simultaneously to evaluate our adaptive motion system. The experimental re-sult demonstrates the error cause by the slippage and the oblique had been decrease compared to the original system. The original system without any compensation has about 1 cm error to 3 cm. And our system can reduce the error to less than 0.5 cm.
|
|---|
