雙臂機器人之運動控制系統與碰撞偵測

本論文實現一個具有兩個七自由度機械手臂之雙臂機器人及其運動控制系統，並提出一個碰撞偵測方法來提升雙臂機器人於運動控制時的安全性。主要分為三個部分：(1)雙臂機器人之運動學、(2)雙臂機器人之運動控制以及(3)碰撞偵測。在雙臂機器人之運動學的部分，本論文首先定義七自由度機械手臂之冗餘度，以解決在逆運動學求解過程會有無限解的問題，然後再以本論文提出的一個座標空間轉換方法，將雙臂機器人之左右手臂的目標命令，可藉由七自由度機械手臂之運動學來求解。在雙臂機器人之運動控制的部分，本論文提出一個可將機械手臂各關節達到運轉同步的方法，讓雙臂機器人在運作時，使其機械手臂之末端的運動軌跡可以更加穩定。而在碰撞偵測的部分，本論文首先定義機械手臂之連桿為線段，使機械手臂之連桿的碰撞偵測變為空間中各線段的距離檢測。然後藉由正運動學來推算各關節的位置，得出各連桿之線段方程式，並結合運動控制所規劃之各軸的速度及位移，得知各連桿在空間中的運動情形，再對其運動於空間中的相對關係進行分析，即可求得連桿間是否會有碰撞的情形發生。在實驗結果的部分，本論文以一些模擬實驗結果來驗證所提出之基於機械手臂之運動學的雙臂機器人之運動學以及運動控制之方法的整合確實可以讓所自行開發之雙臂機器人具有不錯的控制效果，而所提出之碰撞偵測的演算法亦確實可以讓雙臂機器人具有無碰撞的能力。

關鍵字

雙臂機器人；冗餘機械手臂；運動控制；碰撞偵測；無碰撞

並列摘要

In this thesis, a dual-arm robot based on two 7-DOF redundant robot manipulators motion control system is implemented, and a dual-arm robot collision detection method is proposed to enhance the security of motion control. It contains three main parts: (1) kinematics of dual-arm robot, (2) motion control of dual-arm robot, and (3) collision detection. In kinematics of dual-arm robot, redundancy of 7-DOF robot manipulator is defined to solve the problem of infinite solution in the inverse kinematics solution process in this thesis. Then, with a coordinate space transformation method proposed in this thesis, the command of left and right arms of dual-arm robot can solve by kinematics of 7-DOF robot manipulator. In motion control of dual-arm robot, this thesis proposed a method to synchronize joints of robot manipulator, so that trajectory of the end of robot manipulator can be more stable when the dual-arm robot is operated. In collision detection, this thesis first defined the links of robot manipulator as lines segment, so that collision detection of the links is regarded as distance detection of each line segment. After that, line segment equation of each link is obtained by calculating the position of each joint with forward kinematics, combined the information of velocity and displacement, and it would obtain links movement situation, then the relationship between links in the space can be analyzed to detect the robot manipulators whether collide with each other or not. In the experiment results, this thesis uses simulation to verify the proposed kinematics and motion control method can make the dual-arm robot have a good control effect, and the proposed collision detection algorithm can indeed make the dual-arm robot achieve collision-free.