簡易檢索 / 詳目顯示
| 研究生： |
陳志達 Chih-Ta Chen |
|---|---|
| 論文名稱： |
桌上曲棍球之機器人攻防控制 |
| 指導教授： |
王文俊
Wen-June Wang |
| 口試委員: | |
| 學位類別： |
碩士 Master |
| 系所名稱： |
資訊電機學院 - 電機工程學系 Department of Electrical Engineering |
| 畢業學年度： | 89 |
| 語文別： | 中文 |
| 論文頁數： | 50 |
| 中文關鍵詞： | 桌上曲棍球 、曲棍球機器人 、攻防控制 |
| 相關次數： | 點閱：9 下載：0 |
| 分享至: |
| 查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報 |
本篇論文主要是在設計一個具有影像視覺的智慧型桌上曲棍球機器人。本論文使用CCD擷取桌上曲棍球台的動態影像並傳回電腦，利用影像處理的技巧將影像資料經過處理，以計算曲棍球的位置、行進方向及速度等資訊，電腦根據這些資訊估測機器人擊球點的位置、擊球時間並選擇行動策略以決定機器人的動作模式。最後利用模糊控制器控制機器人的動作，並根據曲棍球行進路徑對擊球點的位置做補償修正，使得機器人可以阻擋曲棍球入我方球門，或是擊球回對方球門，達到與真人對打競賽的目的。
[1] B.E. Bishop and M.W. Spong , “Vision-based control of an air hockey playing robot,” IEEE control Systems Magazine, vol: 19 Issue: 3, June 1999.
[2] B.E. Bishop and M.W. Spong, “Development of a three degree-of-freedom air hockey robot,” in Video Proce. 1998 IEEE Int. Conf. Robot. Automat., Segment 19, 1998.
[3] P. Allen, A. Timcenko, B. Yoshimi, and P. Michelman, “Automated tracking and grasping of a moving object with a robotic hand-eye system,” IEEE Trans. Robot. Automat., Automat., vol. 9, no. 2, pp. 152-165, 1993.
[4] R.L. Andersson, “Dynamic sensing in a Ping-pong playing robot,” IEEE Trans. Robot. Automat., vol. 5, pp. 728-739, December 1989.
[5] G. Hager and S. Hutchinson(eds.), Special Section on Visual Servo, IEEE Trans. Robot. Automat., vol. 12, no. 5, 1996.
[6] W.H. Huang, E.P. Krotkov, and M.T. Mason, “Impulsive manipulation,” in Proc. IEEE Int. Conf. Robot. Automat., pp. 120-125, 1995.
[7] A.A. Rizzi and D.E. Koditschek, “Progress in spatial robot juggling,” in Proc. IEEE Int. Conf. Robot. Automat., pp. 775-780, 1992.
[8] A.A. Rizzi and D.F. Koditschek, “Further progress in robot juggling: The spatial two—juggle,” in Proc. IEEE Int. Conf. Robot. Automat., pp. 919-924, 1993.
[9] J.W.H. Warren, D.S. Young, and D.N. Lee, “Visual control of step length during running over irregular terrain,” J. Experimental Psychology, vol. 12, no. 3, pp. 259-266, 1086.
[10] A.A. Rizzi and D.E. Koditschek, “An active visual estimator for dextrons manipulation,” IEEE Trans. Robot. Automat., vol. 12, pp. 697-713, Oct. 1996.
[11] G.C. Buttazzo, B. Alltta, and F.P. Fanizza, “Mousebuster: A robot for real-time catching,” Control System Magazine, vol. 14, no. 1, pp. 49-56, 1994.
[12] E. Grosso, G. Metta, A. Oddera, and C. Saudini, “Robust visual servoing in 3-D reaching task,” IEEE Trans. Robot. Automat., vol. 12, no. 5, pp. 732-742, 1996.
[13] B.E. Bishop and M.W. Spong, “Adaptive calibration and control of 2d monocular visual servo systems,” in 9th IFAC Symp. Robot Control, (Nantes, France), pp. 525-530, 1997.
[14] J.T. Feddema Trajectory Generation, “ IEEE Trans. on a Robotics and Automation, vol. 5, no. 5, October 1989.
[15] R.C. Gonzalez and R.E. Woods, Digital Image Processing, Addison Wesley, 1992.
[16] J.T. Tou and R.C. Gonzalez, Pattern Recognition, Addison Wesley, 1974.
[17] P.K. Allen, A Timeceko, B. Yoshimi and P. Michelman, “Trajectory Filtering and Prediction for Automated Tracking and Grasping of a Moving Object,” Proc. IEEE Int. Conf. Robot. Auto, Nice France, pp. 1850-1856, May 1992.
[18] J.R. Taylor, An Introduction to Error Analysis: The Study of Uncertainties in Physical Measurements. Mill Valley, CA: University Science Books, 1982.
[19] M.S. Branicky, “Studies in Hybrid Systems: Modeling, Analysis and Control,” Cambridge, MA: PhD dissertation, Massachusetts Institute of Technology, June 1995.
[20] 連俊傑（王文俊指導）, “即時追蹤與捕捉知系統設計,” 碩士論文, 國立中央大學電機所, 1996年六月.
