本文選題：關(guān)節(jié)型機器人 + 博弈機器人　； 參考：《沈陽航空航天大學》2017年碩士論文

【摘要】：近年來隨著高科技、智能化的自動化生產(chǎn)設(shè)備不斷進步,人們對智能化的要求增高,機器人產(chǎn)品逐漸趨于生活化,促進了博弈機器人等智能機器人技術(shù)的研發(fā)。博弈機器人研發(fā)成本低、整體尺寸小、控制靈活度高,將作為一種高級的生活陪伴品和寓教于樂的教學工具進入人們的生活中,具有一定的市場需求和研究價值。本文將機器人技術(shù)和計算機博弈結(jié)合起來,設(shè)計了一款多自由度機械手臂,利用相關(guān)的控制程序完成抓子、棄子、吃子等動作,運用視覺技術(shù)完成棋盤信息的識別,根據(jù)博弈算法進行步法推演,從而實現(xiàn)人機對弈功能。全文在結(jié)構(gòu)設(shè)計上參考了ABB460型機器人的經(jīng)典結(jié)構(gòu)設(shè)計方案,采用了雙平行四邊形連桿結(jié)構(gòu)。在此基礎(chǔ)上,對末端執(zhí)行器的關(guān)鍵零件和特殊零件(如腕部法蘭、電機托架等)進行了設(shè)計,對機器人的博弈動作進行了仿真分析,利用了MATALB軟件估算該機器人的工作空間。另外,基于Arduino和MATALB平臺設(shè)計了博弈機器人控制系統(tǒng)。該系統(tǒng)包含了運用中斷函數(shù)和定時器的關(guān)節(jié)驅(qū)動系統(tǒng),具有離線和在線的博弈系統(tǒng),以及基于自動標定法、分區(qū)域二值化和分區(qū)域霍夫變法等算法開發(fā)了機器視覺系統(tǒng)。本文涉及了串口通信、機器視覺、圖像處理等關(guān)鍵技術(shù)的應(yīng)用。利用實驗驗證了該博弈機器人的結(jié)構(gòu)和控制系統(tǒng)可以完成人機對弈任務(wù)。論文為后續(xù)研究具有機器視覺的人工智能產(chǎn)品提供了理論與實際依據(jù),對視覺控制具有借鑒意義。
[Abstract]:In recent years, with the continuous progress of high-tech and intelligent automatic production equipment, the demand for intelligent robot is increasing, and the robot products are becoming more and more popular, which promotes the research and development of intelligent robot technology such as game robot. The research and development of game robot has the advantages of low cost, small overall size and high control flexibility. As a kind of advanced living companion and teaching tool, it will enter people's life, which has certain market demand and research value. In this paper, the robot technology and computer game are combined to design a multi-degree of freedom mechanical arm, which uses the related control program to complete the actions of grasping, abandoning and eating, and using visual technology to complete the recognition of chessboard information. According to the game algorithm, the footwork is deduced, and the man-machine game function is realized. In this paper, the classical structural design scheme of ABB460 robot is referred to, and the dual parallelogram connecting rod structure is adopted. On this basis, the key parts and special parts of the end effector (such as wrist flange, motor bracket, etc.) are designed, the game action of the robot is simulated and analyzed, and the workspace of the robot is estimated by using MATALB software. In addition, the game robot control system is designed based on Arduino and MATALB platform. The system includes a joint drive system with interrupt function and timer, an off-line and on-line game system, and a machine vision system based on automatic calibration, regionalization and sub-region Hough variation. This paper deals with the application of serial communication, machine vision, image processing and other key technologies. The structure and control system of the game robot are verified by experiments. This paper provides theoretical and practical basis for further research on artificial intelligence products with machine vision.
【學位授予單位】：沈陽航空航天大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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