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Kmuttv25n1 2 Kmuttv25n1 2 Presentation Transcript

  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 2545 15 ËØè¹Â¹µìªèÇÂÃÑ¡ÉÒ¤ÇÒÁ»ÅÍ´ÀÑ ªÔµ àËÅèÒÇѲ¹Ò 1 áÅÐ ·È¾Ã ºØ­á·é 2 ÁËÒÇÔ·ÂÒÅÑÂà·¤â¹âÅÂÕ¾ÃШÍÁà¡ÅéÒ¸¹ºØÃÕ ºÒ§Á´ ·Ø觤ÃØ ¡ÃØ§à·¾Ï 10140 º·¤Ñ´ÂèÍ â¤Ã§¡ÒÃÇԨѹÕéä´é¹Óà·¤â¹âÅÂբͧËØè¹Â¹µì ÁÒãªé¡Ñº§Ò¹ÃÑ¡ÉÒ¤ÇÒÁ»ÅÍ´ÀÑ â´Â·Ó¡Òà ¾Ñ²¹ÒËØè¹Â¹µìµé¹áºº «Öè§à¤Å×è͹·Õè´éÇÂÅéÍ áºº·Ø¡·ÔÈ·Ø¡·Ò§ (Omni-directional wheel 45o ) ÁÒà¾ÔèÁ ¤ÇÒÁ»ÅÍ´ÀÑÂãËéá¡èà¨éÒ˹éÒ·Õè¡ÙéÃÐàºÔ´ àÁ×èͨÓà»ç¹µéͧà¢éÒä»ÊÓÃǨ㹺ÃÔàdz·ÕèʧÊÑÂÇèÒÁÕÇѵ¶ØÃÐàºÔ´ áÅÐËÃ×ÍÊÒþÔɵèÒ§æ 㹡Òû¯ÔºÑµÔ§Ò¹ à¨éÒ˹éÒ·ÕèµÓÃǨ¤Çº¤ØÁËØè¹Â¹µìâ´Âãªé¡éÒ¹¤Çº¤ØÁ (joystick) ¤Çº¤ØÁ ºÑ§¤Ñº·ÔÈ·Ò§áÅФÇÒÁàÃçǢͧËØè¹Â¹µìãËéà¤Å×è͹·Õèä»ÂѧµÓá˹觷Õèµéͧ¡Òà ¨Ò¡¹Ñé¹ÊÒÁÒö ãªéà¤Ã×èͧ©ÒÂÃѧÊÕ X-ray ©ÒÂÃѧÊÕÍÍ¡ä»à¾×è͵ÃǨàªç¤Çѵ¶Ø·ÕèµéͧʧÊÑ ËÒ¡à»ç¹Çѵ¶ØÃÐàºÔ´à¨éÒ˹éÒ·Õè µÓÃǨ¨Ð»ÃѺÁØÁ¢Í§»×¹ÂÔ§¹éÓ¤ÇÒÁ´Ñ¹ÊÙ§ä»ÂѧµÓá˹è§Ç§¨Ã¢Í§Çѵ¶ØÃÐàºÔ´à¾×èÍ·ÓÅÒÂÃÐàºÔ´ â´Â à¨éÒ˹éÒ·ÕèµÓÃǨÍÒÈÑÂÊÑ­­Ò³ÀÒ¾·Õèä´é¨Ò¡¡Åéͧ·ÕèµÔ´µÑé§ÍÂÙ躹µÑÇËØè¹Â¹µì㹡ÒêèǵѴÊԹ㨠¼Ùéà¢Õ¹ÍÒÈÑ¢éÍÁÙž×é¹°Ò¹´éҹẺ¨ÓÅͧ¤³ÔµÈÒʵÃì¤Ôà¹áÁµÔ¤Êì㹡ÒäǺ¤ØÁ¡ÒÃà¤Å×è͹·Õè ¢Í§ËØè¹Â¹µì ¹Í¡¨Ò¡¹Ñé¹ ä´é·´Êͺ¡ÒÃà¤Å×è͹·Õè¢Í§ËØè¹Â¹µì »ÃÒ¡¯ÇèҼšÒ÷´Êͺ´éÒ¹¤ÇÒÁàÃçÇ ÁÕ¤èÒ¤ÇÒÁ¼Ô´¾ÅÒ´à©ÅÕèÂÃéÍÂÅÐ 30.73 ¡Ò÷´ÊͺÃÕ¾Õ·ÍÐàºÅÔµÕÁÕ¤ÇÒÁ¼Ô´¾ÅÒ´à©ÅÕèÂÃéÍÂÅÐ 6.65 1 ÃͧÈÒʵÃÒ¨ÒÃÂì ÀÒ¤ÇÔªÒÇÔÈÇ¡ÃÃÁà¤Ã×èͧ¡Å 2 ¹Ñ¡ÈÖ¡ÉÒÃдѺºÑ³±ÔµÈÖ¡ÉÒ ÀÒ¤ÇÔªÒÇÔÈÇ¡ÃÃÁà¤Ã×èͧ¡Å
  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 254516 Security Enhancement through Robotics Technology : SEBOT Djitt Laowattana 1 and Thodsaporn Bunthae 2 King Mongkut’s University of Technology Thonburi, Bangmod, Toongkru, Bangkok 10140 Abstract We implement robotics technology to enhance security in detrimental tasks. Our prototype: SEBOT benefits from a specially designed Omni-directional wheel 45o . SEBOT is capable of assisting security officers in investigating bombs and toxic substances. This research project reveals a control approach for the SEBOT. Operators are able to control desired directions and velocities of the SEBOT by using a joystick. An X-ray device could be used to detect any suspect object. In addition, image from a wireless camera will promote effective path planning. The test results on average velocity error and average positional error are 30.73% and 6.65%, respectively. 1 Associate Professor, Department of Mechanical Engineering. 2 Graduate Student, Department of Mechanical Engineering.
  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 2545 17 1. º·¹Ó 㹻Ѩ¨ØºÑ¹ä´éÁÕ¡ÒùÓËØè¹Â¹µìáÅÐÍØ»¡Ã³ìáÁ¤¤Ò·Ã͹ԡÊìÁÒãªé㹧ҹËÅÒ»ÃÐàÀ· ÊèǹãË­èà»ç¹§Ò¹·Ò§´éÒ¹ÍصÊÒË¡ÃÃÁ à¾×èÍÅ´µé¹·Ø¹ã¹¡ÒüÅÔµ áµèÂѧÁÕ§Ò¹ºÒ§»ÃÐàÀ··Õèµéͧãªé ËØè¹Â¹µì·Ó§Ò¹á·¹Á¹ØÉÂì à¹×èͧ¨Ò¡ÅѡɳÐÁÕ¤ÇÒÁàÊÕè§ÀÑÂÊÙ§ ËÃ×Íʶҹ·ÕèäÁèàÍ×éÍÍӹǵèÍ¡Òà »¯ÔºÑµÔ§Ò¹¢Í§Á¹ØÉÂì §Ò¹´Ñ§¡ÅèÒÇä´éá¡è §Ò¹ÊÓÃǨÍÇ¡ÒÈ §Ò¹ÊÓÃǨ¢ÑéÇâÅ¡ áÅСÒ÷ӧҹ ã¹âç§Ò¹ä¿¿éÒ¹ÔÇà¤ÅÕÂÃì à»ç¹µé¹ ´Ñ§¹Ñé¹ËØè¹Â¹µì·Õèà¤Å×è͹·Õè´éÇÂÅé֧ͨà»ç¹·Ò§àÅ×͡˹Ö觷Õè¹ÓÁÒ »¯ÔºÑµÔ§Ò¹á·¹Á¹ØÉÂì à¹×èͧ¨Ò¡ÁÕ¤ÇÒÁ¤ÅèͧµÑÇÊÙ§ ã¹µèÒ§»ÃÐà·Èä´éÁÕ¡ÒÃÈÖ¡ÉÒ ÅéÍËØè¹Â¹µì à¤Å×è͹·Õèä´é (Wheel Mobile Robots : WMR) ÁÒà»ç¹àÇÅÒ¹Ò¹áÅéÇ µÑÇÍÂèÒ§§Ò¹ÇԨѷÕèà¡ÕèÂǡѺÅéÍËØè¹Â¹µì à¤Å×è͹·Õèä´é ä´éá¡è Terregator [1] à»ç¹ËØè¹Â¹µì·Õèà¤Å×è͹·Õè´éÇÂÅéÍË¡ÅéÍ ¹Óä»»ÃÐÂØ¡µìãªé§Ò¹ 㹡ÒÃÅÓàÅÕ§ ¢¹¶èÒ ÇÑÊ´ØÍØ»¡Ã³ìµèÒ§æ 㹺ÃÔàdzâç§Ò¹ä¿¿éÒ¹ÔÇà¤ÅÕÂÃì ËØè¹Â¹µì APRA’s UGV [2] à»ç¹ËØè¹Â¹µì·Õèãªé㹡ÒÃÊÓÃǨÀÙÁÔ»ÃÐà·È·Õèà»ç¹·Øè§Ë­éÒ ËØè¹Â¹µì Hero2000 [3] à»ç¹ËØè¹Â¹µì ·ÕèÊÒÁÒöËźËÅÕ¡ÊÔ觡մ¢ÇÒ§ä´é´éǵÑÇàͧ Harunobu [4] à»ç¹ËØè¹Â¹µì·ÕèÊÒÁÒöà¤Å×è͹·Õè仵ÒÁ ·éͧ¶¹¹ â´ÂÊÒÁÒöËźËÅÕ¡ÊÔ觡մ¢ÇÒ§·Õèà¤Å×è͹äËÇä´é º·¤ÇÒÁ¹Õéä´é¹Ó¢éÍÁÙž×é¹°Ò¹¨Ò¡§Ò¹ÇÔ¨ÑÂàÃ×èͧ MOBO 2.0 An Omni-directional Wheeled Mobile Robot ÁҾѲ¹ÒÊÃéÒ§à»ç¹ËØè¹Â¹µìµé¹áºº à¾×èÍãªé㹧ҹ¨ÃÔ§ â´Âà»ç¹¡ÒùÓàÍÒ¤ÇÒÁÊÒÁÒö ¾ÔàÈɢͧ°Ò¹à¤Å×è͹·Õèä´é (mobile base) Ẻ ÍÁ¹Ô (Omni-directional wheel) 45 ͧÈÒ ·ÕèÊÒÁÒö à¤Å×è͹·Õèä»ä´é·Ø¡·ÔÈ·Ò§ à¾×èÍÅ´ÃÐÂзҧ áÅÐàÇÅÒ·Õèãªé㹡ÒÃà¤Å×è͹·Õè ¹Ó·ÄɮաÒäǺ¤ØÁ ¤ÇÒÁàÃçÇÁÒãªé¡ÑºµÑÇËØè¹Â¹µì áÅÐÁÕ¡ÒÃàÅ×Í¡ãªé¡Åéͧâ·Ã·Ñȹìǧ¨Ã»Ô´ (CCTV) ẺäÃéÊÒ ÍØ»¡Ã³ì ¤Çº¤ØÁÃÐÂÐä¡Å â´ÂµÔ´µÑé§à¢éҡѺµÑÇËØè¹Â¹µì à¾×èÍÊÒÁÒö¤Çº¤ØÁáÅÐÊè§ÀÒ¾ä´éã¹ÃÐÂÐ 150-200 àÁµÃ ¤³Ð¼ÙéÇÔ¨ÑÂä´éÈÖ¡ÉÒáÅÐÇÔ¨ÑÂÅѡɳТͧÅéÍ ÍÁ¹Ô Ẻ 45 ͧÈÒ ·Äɮշҧ´éÒ¹¡ÒÃÍ͡Ẻ ¤Ôà¹áÁµÔ¡Êì¢Í§°Ò¹à¤Å×è͹·Õèä´é ·Õè͸ԺÒÂàªÔ§¤³ÔµÈÒʵÃì¢Í§Êèǹ»ÃСͺµèÒ§æ ¢Í§ÅéÍáÅÐÊèǹ·Õè ÅéÍÊÑÁ¼ÑʡѺ¾×é¹ãËéÁÒÍÂÙèã¹ÃÙ»¢Í§àÁµÃÔ¡«ì¾Õª¤³Ôµ (matrix algebra) áÅСÒÃÊÃéÒ§ àÁµÃÔ¡«ì¨ÒÃìâ¤àºÕ¹ (Jacobian matrix) ¢Í§ËØè¹Â¹µìªèÇÂÃÑ¡ÉÒ¤ÇÒÁ»ÅÍ´ÀÑ 2. ·Äɮվ×é¹°Ò¹ ÅéÍ·Õèãªé¡Ñº°Ò¹à¤Å×è͹·Õèä´é [5]-[8] ÁÕ 3 Ẻ ¤×Í 1 ÅéÍ»¡µÔ (conventional wheel) ÁÕÊͧͧÈÒÍÔÊÃÐ ¤×ÍÁÕ¡ÒÃà¤Å×è͹·ÕèµÒÁá¹Ç¾×é¹·Õè¼ÔǢͧÅéÍ µÒÁá¹Ç¡ÒÃÇÒ§ÅéÍ áÅСÒÃËÁع·Õè¨Ø´ÊÑÁ¼ÑÊÃÐËÇèÒ§Åé͡Ѻ¾×é¹ â´Â㹡ÒÃãªé§Ò¹¨ÃÔ§ÁÕ¡ÒõԴµÑé§ ¡Åä¡¡ÒÃËÁع (steering mechanism) à¾×èÍà¾ÔèÁͧÈÒÍÔÊÃТÖé¹à»ç¹ÊÒÁͧÈÒÍÔÊÃÐ 2 ÅéÍÍÁ¹Ô (Omni-direction wheel) ÁÕÊÒÁͧÈÒÍÔÊÃÐ »ÃСͺ´éÇÂͧÈÒÍÔÊÃзÕè˹Öè§ ¤×Í ·ÔÈ·Ò§µÒÁá¹Ç¡ÒÃÇÒ§ÅéÍ Í§ÈÒÍÔÊÃзÕèÊͧà¡Ô´¨Ò¡¡ÒÃËÁع¢Í§ÅÙ¡¡ÅÔ駷ÕèµÔ´ÍÂÙèÃÍºæ ¢Í§ÅéÍ ã¹·Ò§·ÄÉ®ÕÁØÁ¢Í§ÅÙ¡¡ÅÔé§ ÊÒÁÒö·ÓÁØÁà·èÒäáçä´é¹Í¡¨Ò¡ÈÙ¹Âì áÅÐͧÈÒÍÔÊÃзÕèÊÒÁà¡Ô´¨Ò¡ ¡ÒÃËÁع·Õè¨Ø´ÊÑÁ¼ÑÊÃÐËÇèÒ§ÅÙ¡¡ÅÔé§áÅо×é¹
  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 254518 3 ÅéͺÍÅ (ball wheel) «Öè§ÁÕ¤ÇÒÁÊÒÁÒö㹡Ò÷ӡÒÃà¤Å×è͹·Õèä´éÁÒ¡·ÕèÊØ´ ÁÕÊÒÁͧÈÒÍÔÊÃÐ â´ÂäÁèÁÕ¡ÒÃÅ×è¹ (Slip) áµèÁÕ¤ÇÒÁÊÒÁÒö㹡ÒÃÃѺ¹éÓ˹ѡ¨Ó¡Ñ´ áÅÐÁÕ¤ÇÒÁÂÒ¡ÅÓºÒ¡¾ÍÊÁ¤Çà 㹡ÒúÓÃاÃÑ¡ÉÒ ÃÙ»·Õè 1 ÅéÍ»¡µÔ ÅéÍÍÁ¹Ô áÅÐÅéͺÍÅ ¤ÇÒÁÊÑÁ¾Ñ¹¸ì·Ò§´éÒ¹¤Ôà¹áÁµÔ¡Êì¢Í§ÅéÍẺµèÒ§æ áÊ´§´Ñ§ÃÙ»·Õè 2 SRLQWRIFRQWDFW SRLQWRIFRQWDFW :KHHO D[OH 6WHHULQJ /LQN RU 5RERW 5RERW 5RERW UROOHU 6LGH 9LHZV )URQW 9LHZV )ORRU )ORRU)ORRU Z &RQYHQWLRQDO 6WHHUHG &RQYHQWLRQDO 2PQLGLUHFWLRQDO %DOO 5HIHUHQFH &RRUGLQDWH $[HV ; < :KHHO '2)V ZZ] ZZ[5 ZZ] ZZ[5 ZV] 6WHHULQJ /LQN ZZU U ZZ[ 5 ZZ] ZZ] ZZ[5 ZZ5 ÃÙ»·Õè 2 ¤ÇÒÁÊÑÁ¾Ñ¹¸ì·Ò§´éÒ¹¤Ôà¹áÁµÔ¡Êì¢Í§ÅéÍẺµèÒ§æ ¨Ò¡ÃÙ»ÊÒÁÒöáÊ´§¤ÇÒÁÊÑÁ¾Ñ¹¸ì·Ò§´éÒ¹¤Ôà¹áÁµÔ¡Êìä´éà»ç¹ÊÁ¡Ò÷ҧ¤³ÔµÈÒʵÃì´Ñ§áÊ´§ ã¹µÒÃÒ§·Õè 1
  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 2545 19 µÒÃÒ§·Õè 1 ¤ÇÒÁÊÑÁ¾Ñ¹¸ì·Ò§´éÒ¹¤Ôà¹áÁµÔ¡Êì¢Í§ÅéÍẺµèÒ§æ 59 Z[ Z 9[ Z]] ZZ
  • FRV U59 ZUZ[ KZZ Z]] ZZ Z]] ZZ
  • VLQ U9 ZU[ KZ 59 Z Z 59 [[ Z àÁ×èÍ Vx áÅÐ Vy ¤×Í Êèǹ»ÃСͺµÒÁá¹Ç᡹ x áÅÐ y ¢Í§¤ÇÒÁàÃçǢͧÅéÍ ·Õè¨Ø´ÊÑÁ¼ÑÊ wz ¤×Í Êèǹ»ÃСͺµÒÁá¹Ç᡹ z ¢Í§¤ÇÒÁàÃçÇàªÔ§ÁØÁ¢Í§ÅéÍ ·Õè¨Ø´ÊÑÁ¼ÑÊ wwr ¤×Í ¤ÇÒÁàÃçÇàªÔ§ÁØÁ¢Í§ÅÙ¡¡ÅÔé§Ãͺ᡹ wwx , wwy , wwz ¤×Í Êèǹ»ÃСͺµÒÁá¹Ç᡹ x , y áÅÐ z ¢Í§¤ÇÒÁàÃçÇàªÔ§ÁØÁ ¢Í§ÅéÍÃͺ¨Ø´ÈÙ¹Âì¡ÅÒ§ wsz ¤×Í ¤ÇÒÁàÃçÇàªÔ§ÁØÁ¢Í§¡Åä¡¡ÒÃËÁع (steering mechanism) Ãͺ ᡹ËÁع h ¤×Í ÁØÁ¢Í§á¡¹ÅÙ¡¡ÅÔ駷Õè¡ÃзӡѺ᡹ÅéÍ R áÅÐ r ¤×Í ÃÑÈÁբͧÅéÍ áÅÐ ÅÙ¡¡ÅÔé§ µÒÁÅӴѺ ÅѡɳТͧÅéÍÍÁ¹Ô·Õèãªé㹡ÒÃà¤Å×è͹·Õè¢Í§ËØè¹Â¹µìªèÇÂÃÑ¡ÉÒ¤ÇÒÁ»ÅÍ´ÀÑ áÊ´§´Ñ§ÃÙ»·Õè 3 ÃÙ»·Õè 3 ÅѡɳТͧ ÅéÍÍÁ¹Ô (Omni-directional wheel 45o ) 2.1 ÃٻẺÊÁ¡Ò÷ҧ¤³ÔµÈÒʵÃì¢Í§¤Ôà¹áÁµÔ¡Êì 㹺·¤ÇÒÁ¹ÕéàÃÒ¨ÐáÊ´§ÇÔ¸Õ¡ÒÃ㹡ÒèÓÅͧ¤Ôà¹áÁµÔ¡Êì¢Í§ ÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é (Wheel Mobile Robot : WMR) â´ÂãËéÊèǹ·ÕèÅéÍÊÑÁ¼ÑʡѺ¾×é¹ à»ç¹áºº¡ÒõèÍâ§ẺËÅÒªÔé¹µèÍ⧠(higher- pair joint) áÅÐá»Å§ãËéÍÂÙèã¹ÃÙ»¢Í§ÊÁ¡ÒÃàÁµÃÔ¡«ì ÅéÍ»¡µÔ ÅéÍÍÁ¹Ô ÅéͺÍÅ
  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 254520 2.1.1 ¹ÔÂÒÁáÅТéÍÊÁÁØµÔ ÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é (WMR) ÊÒÁÒöà¤Å×è͹·Õ躹¾×é¹¼ÔÇâ´Â¼èÒ¹¡ÒÃÃع¢Í§ÅéÍ·Õè»ÃСͺÍÂÙè º¹µÑÇËØè¹Â¹µì áÅÐÊÑÁ¼ÑʡѺ¾×é¹¼ÔÇÅéÍÃÇÁà»ç¹ÍØ»¡Ã³ìµÑÇ˹Öè§ «Öè§ÂÍÁãËé¡ÒÃà¤Å×è͹·ÕèÊÑÁ¾Ñ¹¸ìÃÐËÇèÒ§ µÑÇÁѹàͧáÅо×é¹¼ÔÇ ÁըشÊÑÁ¼ÑÊ¡ÒÃËÁعà¾Õ§¨Ø´à´ÕÂÇ ¢éÍÊÁÁµÔ㹡ÒÃÍ͡Ẻ 1. ÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é µéͧäÁèà»ç¹ªÔé¹Êèǹ·ÕèÂ×´ËÂØè¹ 2. ÅéÍáµèÅÐÅéÍÊÒÁÒöÁÕªÔé¹µèÍ⧺ѧ¤ÑºàÅÕéÂÇà¾Õ§˹Ö觪Ôé¹µèÍ⧠ËÃ×ÍäÁèÁÕàÅ 3. ᡹ºÑ§¤ÑºàÅÕéÂÇ·Ñé§ËÁ´µéͧµÑ駩ҡ¡Ñº¾×é¹¼ÔÇ ¢éÍÊÁÁµÔ㹡Ò÷ӧҹ 1. ÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é¹Õéà¤Å×è͹·Õ躹¾×é¹¼ÔÇÃйҺ 2. ¤ÇÒÁàÊÕ´·Ò¹¢Í§¡ÒÃà¤Å×è͹·Õè·Õè¨Ø´ÊÑÁ¼ÑÊÃÐËÇèÒ§ÅéÍáÅо×é¹¼ÔǵéͧÁÒ¡¾Í·ÕèäÁè·ÓãËé à¡Ô´¡ÒÃÅ×è¹ä¶Å 3. ¤ÇÒÁàÊÕ´·Ò¹¢Í§¡ÒÃËÁع·Õè¨Ø´ÊÑÁ¼ÑÊÃÐËÇèÒ§ÅéÍáÅо×é¹¼ÔǵéͧÁÕ¤èÒ¹éÍÂà¾Õ§¾Í·Õè ·ÓãËéà¡Ô´¡ÒÃä¶Å¢Í§¡ÒÃËÁعä´é 2.1.2 Ãкº¾Ô¡Ñ´©Ò¡¢Í§ÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é ÃÙ»·Õè 4 áÊ´§Ãкº¾Ô¡Ñ´©Ò¡·Õè»ÅÒ·Ñ駤Ùè¢Í§·Ø¡ªÔé¹µèÍ⧢ͧÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é ªÔé¹µèÍ⧠¢Í§¡Åä¡»Ô´ (closed-link chain) ¢Í§ÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é ¾×é¹ µÑÇËØè¹Â¹µìáÅЪÔé¹µèÍ⧠ºÑ§¤ÑºàÅÕéÂÇ¢é͵èÍà»ç¹áººËÁع (revolute) ÊÓËÃѺÅéÍËØè¹Â¹µìà¤Å×è͹·Õèä´é¹ÕéÁըӹǹ N ÅéÍ ¡ÒáÓ˹´ Ãкº¾Ô¡Ñ´©Ò¡¨Ó¹Ç¹á¡¹¨Ö§à»ç¹ 3N+1 ¡ÑºµÑÇËØè¹Â¹µìáÅÐ˹Öè§á¡¹·ÕèãªéÍéÒ§ÍÔ§ :KHHO  &! [ 6!’ Ã6à ’ Ã6ÃÃI’ 6!‘ Ã6ÃI‘ 6 ‘ +!’ +!‘ + ’ Ã+à ‘ Ã+ÃI‘ +I’ :KHHO  :KHHO 1 [ [ &I & 5 [ [ )ORRU) 5RERW %RG+" +# +I     ÃÙ»·Õè 4 ¡ÒõÑé§á¡¹¢Í§Ãкº¾Ô¡Ñ´©Ò¡
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  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 254524 ¹Ó¤èÒ੾ÒСóբͧÅéÍ·Ñé§ 4 ÅéÍÁÒá·¹ã¹ÊÁ¡Ò÷Õè (10) (11) áÅÐ (12) à¾×èÍäËéä´éÊÁ¡Òà ¨ÒÃìâ¤àºÕ¹¢Í§ËØè¹Â¹µì«Öè§áÊ´§ä´é´Ñ§ÊÁ¡Ò÷Õè (13) » » » » » ¼ º « « « « « ¬ ª ˜ » » » » ¼ º « « « « ¬ ª    ˜ » » » ¼ º « « « ¬ ª 4 3 2 1 2222 4 1 R R R R R R R l r l r l r l r rrrr rrrr V V z y x (13) ÊÒÁÒöà¢Õ¹ÊÁ¡Ò÷Õè (13) ãËéÍÂÙèã¹ÃٻẺ·Ò§¤³ÔµÈÒʵÃìä´é´Ñ§¹Õé JP ˜ (14) «Öè§ÊÁ¡ÒèÒÃìâ¤àºÕ¹Âé͹¡ÅѺ¢Í§ËØè¹Â¹µìªèÇÂÃÑ¡ÉÒ¤ÇÒÁ»ÅÍ´ÀÑÂáÊ´§ä´é´Ñ§ÊÁ¡Ò÷Õè (15) áÅÐ (16) » » » ¼ º « « « ¬ ª ˜ » » » » » » » » ¼ º « « « « « « « « ¬ ª     » » » » ¼ º « « « « ¬ ª z y x R R R V V r l rr r l rr r l rr r l rr 211 211 211 211 4 3 2 1 (15) PJ ˜1 (16) 2.3 µÑÇÍÂèÒ§¡ÒèÓÅͧ¡ÒÃà¤Å×è͹·Õè¢Í§ËØè¹Â¹µì 㹡ÒäӹdzËÒ¤èÒ¤ÇÒÁàÃçǢͧÅéÍ·Õèãªé㹡ÒÃà¤Å×è͹·Õèä´éãªéÊÁ¡Ò÷Õè (15) 㹡Òäӹdz ËÒ¤ÇÒÁàÃçǢͧÅéÍã¹áµèÅФÇÒÁàÃçÇ·Õèµéͧ¡Òà â´ÂÊÁÁصÔãËéËØè¹Â¹µìà¤Å×è͹·Õèà´Ô¹Ë¹éÒ â´Â à¾ÔèÁ¤ÇÒÁàÃçǨҡ 0 (¨Ø´ A) ¨¹¶Ö§ 1 àÁµÃ/ÇÔ¹Ò·Õ ÍѵÃÒ¡ÒÃà¾ÔèÁ¤ÇÒÁàÃçÇ 0.01 µèÍ 1 ÇÔ¹Ò·Õ à»ç¹àÇÅÒ 100 ÇÔ¹Ò·Õ (¨Ø´ B) ËÅѧ¨Ò¡¹Ñé¹ãËéËØè¹Â¹µìà¤Å×è͹·Õèà´Ô¹Ë¹éÒ ¾ÃéÍÁ·Ñé§ËÁعÃͺµÑÇàͧ´éǤÇÒÁàÃçÇ 1 àÁµÃ/ÇÔ¹Ò·Õ áÅÐ 2 ÃͺµèÍ¹Ò·Õ µÒÁÅӴѺ à»ç¹àÇÅÒ 100 ÇÔ¹Ò·Õ (¨Ø´ C) àÁ×èÍ·Ó¡Ò÷´ÅͧáÅéÇ ÅѡɳСÒÃà¤Å×è͹·Õè¢Í§ËØè¹Â¹µìà»ç¹´Ñ§ÃÙ»·Õè 7
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  • ÇÒÃÊÒÃÇÔ¨ÑÂáÅоѲ¹Ò Á¨¸. »Õ·Õè 25 ©ºÑº·Õè 1 Á¡ÃÒ¤Á-ÁÕ¹Ò¤Á 254534 7. àÍ¡ÊÒÃÍéÒ§ÍÔ§ 1. Whittaker, W. L. 1985, “Cognitive Robots for Construction,” Annual Research Review, pp. 11-14. 2. Cook, D. J., Gmytrasiewicz, P., and Holder, L. B., “Decision-Theoretic Cooperative Sensor Planning”, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 18, pp. 1013-1022. 3. Maeda, Y., Tanabe, M., Yuta, M., Takagi, T., 1992, “Hierarchical Control for Autonomous Mobile Robots with Behavior-Decision Fuzzy Algorithm,” Proceedings of the 1992 IEEE International Conference on Robotics and Automation, pp. 135-140. 4. Mori, H. “Recent Progress in Mobile Robot Harunobu-4”,Vision-base Vehicle Guidance, pp. 204-221. 5. Dickerson, S. L. and Lapin, B. D., 1991, Control of an Omnidirectional Robotic Vehicle with Macanum Wheels, Atlanta, Georgia Institute of Technology, pp. 0323-0328. 6. Holland, J. M., 1983, Basic Robotic Concepts, Howard W.Sams&Co., Indianapolis IN, pp. 107-170. 7. Muir, P. F. and Neuman, C. P., 1986, Kinematic Modeling of Wheeled Mobile Robotics, Pittsburgh, Carnegie-Mellon University, pp. 5-41. 8. Pin, F. G. and Killough, S. M., 1994, “A New Family an Omnidirectional and Holonomic Wheeled Platforms for Mobile Robot”,IEEE Transactions on Robotics and Automation, Vol. 10, August, pp. 480-489.