비전 기반 통합 센서를 이용한 모바일 매니퓰레이터의 힘 제어에 관한 연구 = Researches on Force Control of Mobile Manipulator using Integrated Sensors based on Vision

다국어 초록 (Multilingual Abstract)

Industrial manipulator robot could be done only in limited workspace and has shortcoming that it can't work about task object in out of workspace.
In the integrated sensor, vision sensors provides means for a robot to know its global task environment. Force sensors are essential in controlling the tool / work piece contact or for monitoring interacting forces to protect tool or the task object from damage. Task based on integrated sensor can contribute to the ever growing industrial demand to increase velocity and precision of the robotic task, especially in an unstructured working environment. The goal of the mixed vision control and force control is to fuse their advantages, while overcoming their shortcomings.
This paper presents a force Control of Mobile Manipulator using Integrated Sensors based on Vision. In this paper, using vision sensor (1) the distance to the contour from the center of the image and the angle of the contour is detected by the relative area method that measures the image features of interest directly from the thresholded image without any intermediate steps. (2) A set of contour edge points is detected by canny edge detector. Then, the curvature of contour is calculated by the tangent contour model. A force information is obtained from a strain-gauge type force sensor. It constantly control contact force between tool and object of task. Finally, experimentation is performed by a mobile manipulator at a straight line section and a curved line section of the object contour using Webots simulator. x, y-direction is position control direction and z-direction is force control direction. Proposed system overcome for a shortcoming which has a limited workspace of the fixed manipulator arm and follow a real time path in unstructured environments using vision sensor.

목차 (Table of Contents)

• 제1장 서론 = 1
• 1.1 연구 배경 및 목적 = 1
• 1.2 연구 내용 및 논문의 구성 = 3
• 제2장 시스템 구성 및 모델링 방법 = 5
• 2.1 전체 시스템 구성 = 5
• 2.2 모델링 구성 순서 및 방법 = 6
• 2.2.1 3D CAD Tool을 이용한 모델링 = 7
• 2.2.2 Matlab Robotics Toolbox를 이용한 모델링 = 7
• 2.2.3 Webots를 이용한 모델링 = 9
• 제3장 로봇 운동 방정식 = 11
• 3.1 운동 방정식(Equation of Motion) = 11
• 3.1.1 라그랑지 방정식(Lagrang's equation) = 12
• 3.1.2 관절 공간 동역학(Joint Space Dynamics) = 13
• 3.1.3 작업 공간 동역학(Operational Space Dynamics) = 18
• 3.2 Mobile Manipulator 의 동역학 및 모델링 = 21
• 3.2.1 모바일 매니퓰레이터의 시뮬레이션 모델 = 21
• 3.2.2 모바일 매니퓰레이터의 동역학 = 22
• 3.2.3 위치와 힘 제어의 동적 분리 = 29
• 제4장 비전 센서 제어(Vision Sensor Control) = 32
• 4.1 영상처리(Image Processing) = 32
• 4.1.1 캐니 에지 추출(Canny Edge Detection) = 33
• 4.1.2 Relative Area Contour Detection = 35
• 4.2 윤곽 모델링(Contour Modelling) = 38
• 4.2.1 접선 모델(Tangent Model) = 38
• 4 2.2 물체 윤곽 추종 = 40
• 제5장 실험 결과 = 42
• 5.1 직선구간(straight line section) = 43
• 5.2 곡선구간(circular line section) = 45
• 제6장 결론 = 48
• 참고 문헌 = 49
• 부록 = 52