本論文主要在探討居家服務型機器人抓取姿態與模糊握力控制法之設計與實現。首先探討居家服務型機器人的硬體架構，本機器人係由筆記型電腦為控制中樞，結合一對具6個自由度的機械手臂、4個自由度的手掌、2個自由度的頸部、四輪轉動和四輪驅動的輪型底盤、視覺系統及雷射量測系統。以視覺系統取得目標物的位置與外型，並將它從影像座標系轉換到機器人座標系。另一方面，利用D-H法則(Denavit-Hartenberg convention)來定義機械手臂的座標，藉此推導出手臂的順向與逆向運動學。此外，設計手臂抓取物品時的移動軌跡與姿態，並根據終端器的誤差去校正手臂位置。在手臂的終端器完成定位後，利用伺服馬達負載效應去實現模糊握力控制。最後，本論文提出的抓取姿態與握力控制法，將其應用於居家服務型機器人，並透過實驗室的實驗結果與2012 RoboCup@Home日本公開賽的比賽成果證明其可行性與有效性。

This thesis mainly discusses the design and implementation of grasping posture and fuzzy grip force control scheme for home service robot. First, the hardware architecture of the home service robot consists of a pair of 6-DOF (degree of freedom) arms, 4-DOF hand, 2-DOF neck, four-wheel steering and four-wheel drive mobile chassis, vision system, and laser measurement system. The position and shape of the target are obtained by vision system, and they are transformed to robot coordinate system from vision coordinate system. On the other hand, the coordinate of the robotic arm is defined by Denavit-Hartenberg convention, and forward and inverse kinematics of the robotic arm are derived. Moreover, the moving trajectory of the robotic arm and the posture for grasping object are designed, and the position of the end-effector is adjusted according to its error. After the end-effector of the robotic arm reaches the target, a fuzzy grip force control is implemented by considering the load effect of the motors. Finally, both the experimental results in the laboratory and competition consequents of 2012 Robocup@home Japan Open demonstrate the validity and effectiveness of the proposed grasping posture and fuzzy grip force control scheme on our home service robot.

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