機器手臂協作控制技術議題探討

為了因應複雜的加工生產流程，智慧工廠的演進從過往的單機自動化，邁向多機協作的自動化；機器人也從脈衝控制到總線控制，從一台控制器只能控制一台機器人到一台控制器可以控制多台機器人。而運動控制方式的變化，使得「多機協作」成為可能。在多機協作的環境中，多隻機械臂相應配合對工件做固定動作之加工。在多機協作的情境下，當任一機器臂發生不預期的運動時，將導致其他機械臂發生碰撞，過大的外力將會對機械臂造成物理性傷害，增加工廠營運成本。在人機協作的情境下，作業員突如其來的不預期動作，可能造成人員損傷。本文以多機協同作業控制、多機協作碰撞預防與人機協作之機械手臂防碰撞等技術議題進行探討。

關鍵字

工業機器人；協作控制；碰撞預防；多機協作；人機協作

並列摘要

To cope with complex production processing, smart manufacturing has evolved from single-robot operation to multi-robot cooperation. Robots are also changing from pulse-type controlled to field-bus controlled. Moreover, single controller nowadays is able to control multiple robots. This changes made ＂multi-robot collaboration＂ possible. In the context of multi-robot cooperation, multiple robot arms correspondingly perform desired motion process on the workpiece. If any robot arm undergoes unexpected movement, it will cause possible collision to other robots. Excessive external force would cause physical damage to the robot arm. When it comes to human-robot collaboration, unexpected actions of the operator may cause personal injury. This article discusses technical issues such as multi-robot cooperation control, multi- robot cooperative collision prevention, and human-machine cooperative robot arm anti-collision.