臺灣博碩士論文加值系統

近年來不斷出現新式智能機器人取代人力，隨著電腦科技的發展，運算效率快速增長，各類演算法所構築的人工智能逐漸應用於各個領域之中。電腦輔助工程 (Computer Aided Engineering，CAE) 軟體已成為工程研究者必備的工具，藉由快速建立虛擬實體模型進行模擬分析並除錯，以利設計符合設計需求的實體。本論文採用Matlab 的Simscape Multibody建構模組化機器人(Modular Robot)的模擬模型，藉以提供可視化的三維空間建立3D 機械系統，設定其質量、慣性、關節、約束條件，模擬並探究模組化機器人運動的產生，收集及分析其關節速度、扭矩數值特性，進而設計出合適的運動步態。
本論文首先探討單一模組化機器人移動之動作產生，包括爬行及滾動。再進一步針對多個單一模組機器人結合時的步態規劃與分析，本研究同時藉由基因演算法在現有環境參數限制下，針對各種模組組合機器人之步態的路徑規劃，探討最佳的動作組合，提供實體機器人之控制設計

In recent years, new intelligent robots have emerged to replace human beings. With the development of computer technology and the rapid growth of computing efficiency, artificial intelligence constructed by various types of algorithms is gradually applied in various fields. Computer Aided Engineering (CAE) software has become a must-have tool for engineering researchers by allowing them to quickly create virtual entities for simulation, analysis, and debugging in order to design entities that meet their design requirements. In this paper, is designed and developed a simulation model of a modular robot, which provides a three-dimensional space to build a 3D mechanical system by setting up its mass, inertia, joints, and constraints. The simulation system investigates the motion generation of a modular robot, collects and analyzes the speed and torque characteristics of its joints, and then designs an appropriate motion gait.
This paper first examines the motion generation of a single-module robot, including crawling and rolling. The locomotion planning and analysis of multiple single-module robots in conjunction with each other are also studied. Under the restriction of the environmental parameters, the gait planning path of the robot with respect to each module combination can be explored to find the best combination of motions, and provide the actual Robotic control design.

中文摘要 ...i
英文摘要 ...ii
誌謝 ...iii
目錄 ...iv
表目錄 ...vi
圖目錄 ...vii
第一章 緒論 ...1
1.1 研究背景 ...1
1.2 研究方法與目的 ...2
1.3 論文架構 ...3
第二章 文獻探討 ...4
2.1 模組化機器人的設計 ...4
2.2 模組化機器人的運動設計 ...6
2.3 基因演算法應用於運動優化 ...7
第三章 模組化機器人運動模擬模型 ...10
3.1 模組化機器人之機體設計 ...11
3.2 模組化機器人模擬模型建構 ...14
3.2.1 單一模組化機器人 ...15
3.2.2 運動分析模型 ...16
3.2.3 地板與接觸點定義 ...17
3.3 模組化機器人運動規劃 ...19
3.4 基因演算法優化模組化機器人運動規劃 ...22
3.4.1 基因演算法參數與用法 ...22
3.4.2 基因演算法運用於模組化機器人 ...25
第四章 實驗結果分析與討論 ...27
4.1 單一模組的運動規劃與結果 ...27
4.1.1 側向運動與旋轉 ...27
4.1.2 爬行運動測試與優化 ...29
4.2 分散模組結合的路徑規劃 ...38
4.3 雙模組化機器人運動規劃與結果 ...44
4.3.1 雙模組的側向運動與旋轉 ...44
4.3.2 雙模組的爬行運動 ...45
第五章 結論與未來展望 ...47
5.1 結論 ...47
5.2 未來展望 ...47
參考文獻 ...48
Extended Abstract ...49

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