Interactive Robot Compliance Control Incorporating Environment Information

整合環境資訊之互動式機器人順應控制

陳亮光(Liang-Kuang Chen) ； 戴志奇(Chih-Chi Dai) ； 林嵩豪(Sung-Hao Lin) ； 洪博雄(Boe-Shong Hong)

《中國機械工程學刊》 34卷6期 (2013/12) Pp. 519-525

摘要

本文旨在探討整合環境資訊以及接觸力量測之互動式機器人順應控制。所設計之控制器能依據環境資訊以及接觸立訊號適應性的調整機器人與環境間的阻抗，以在機器人接觸障礙物時提供順應性功能。此調整機制乃是依據周遭環境預先設定之障礙物資訊所建立之位能場規劃，再配以力量監控以確保接觸力能安全地維持在限制範圍內並有效率的於障礙物環境下運作。此控制策略安裝於一三軸運動控制平台進行實驗驗證。實驗結果顯示此控制策略能有效的因應環境障礙物而調整阻抗、同時當接觸發生時力量的控制亦在範圍以內。如此整合兩功能可確保當環境資訊有誤差時接觸力仍能得到控制。

並列摘要

In this paper, the compliance control of a human interactive robot is designed by incorporating environment information with the measured contact force. The proposed controller implements an adaptive impedance-like filtering action according to the measured contact force to achieve the compliance function when the robot contacts the surrounding objects. The adaptation of the impedance is designed using the computed potential field based on the surrounding environment so that the robot can operate both safely and efficiently in the working space. A three-axis Cartesian based robot is employed to validate the proposed control algorithm, and assuming that inexact information about the environment is given. Experimental results indicate that the proposed controller can improve the trajectory tracking efficiency before contact, while maintaining desired level of contact force even if the digital map information of the environment is inaccurate.

並列關鍵字

Cartesian robot ； compliance control