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    Please use this identifier to cite or link to this item: http://ccur.lib.ccu.edu.tw/handle/A095B0000Q/391


    Title: Affordance於機械手臂抓取之研究;A Robot Grasping Method with Affordance
    Authors: 游棨聿;YU, CHI-YU
    Contributors: 電機工程研究所
    Keywords: 機械手臂抓取;本體論;階層式任務網路規劃;robot grasping;Ontology;HTN planning;Ontology
    Date: 2017
    Issue Date: 2019-07-17
    Publisher: 電機工程研究所
    Abstract: 機械手臂的控制流程,從環境偵測,物體辨識,路徑規劃,到任務執行,每一項都需要大量的資料計算與決策判定。為了讓機械手臂的運作更有效率,本研究運用 affordance 的概念,希望利用這些資訊和機械手臂過去學習的經驗,簡化決策判定的過程,提升整體操作的效益。使用 Ontology 的概念,把物體、環境、任務的特性以及彼此之間的關係做連結,接著利用這些關聯性和特性,使用階層式任務網路規劃(Hierarchical Task Network planning)規劃出一連串合宜的動作。並於實驗階段使用本校實驗室的機械手臂,驗證加入 affordance 的概念後,對於環境、物體、工具等的認知有所差異,因而讓手臂能執行合適的方案,順利完成目標物抓取和搬移的任務。
    Robot grasping belongs to the process of controlling robots, which includes environmental detection, subject identification and pathway planning and requires massive data calculation and strategic decision. The specific aim of this study is to use the information and robotic arm’s learning experience based on the concept of affordance to simplify the process of strategic decision and improve the efficiency of operation. By using the concept of ontology, we demonstrated the relation between the perception of objects, environment and actions. Then, we used Hierarchical Task Network planning to design a series of motion. We proposed the concept of environment-affordance, tool-affordance and object-affordance. At the end, we demonstrated some experiments to show their effects. Our system uses the information in a planner and executes the proper plan to complete the mission of grasping and moving through DOBOT Magician Robot Arm. The association between the tasks in a plan and the instructions to control the robot arm is explained.
    Appears in Collections:[電機工程研究所] 學位論文

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