人與移動式機械人之力互動控制研究

Research and Development of Force-Interaction Control Between Human and Mobile Robot

陳冠亨(Kuan-Heng Chen)

指導教授 ： 葉賜旭

國立臺北科技大學/機電學院/機電整合研究所/碩士(2012年)

摘要

本研究主要發展兩種力互動控制技術，可分別運用在大型與小型的互動型機器人。運用於小型機器人的力互動控制技術，本研究是使用干擾觀測器為力量感測回饋配合運動學分析觀測外界對機器人所施加的力量，使小型機器人可以在沒有扭矩感測器的情況下依外界施予的作用力作出不同的肢體反應運動。運用於大型機器人的力互動控制技術，則是透過無動力機械臂來感測使用者的施力行為，並使用變加速度的速度控制方法控制機器人的運動，使其能夠平穩安全且正確的隨著使用者施力而移動身體。本研究藉由實現力互動控制技術於不同互動機器人表現本研究所提出的機器人與人力互動控制技術為可行。

關鍵字

移動式機器人 ； 人機互動控制 ； 力互動控制

並列摘要

This study aims to develop two force-interactive control technologies that could be used to execute force-interactive control for human-robot interaction with small and large human-interactive robots. For executing the force-interactive control with a small robot, a sensorless admittance control law designed using a disturbance observer is required. This study aims to develop a sensorless admittance motion control law by using a disturbance observer so that a small humanoid human-interactive robot, which usually cannot be equipped with force/torque sensors, can perform compliance motions by referring to the force exerted by users. However, for executing the force-interactive control with a large robot, the admittance control law must be designed considering a user’s behavior, which is estimated by a developed powerless humanoid body when the users perform cooperative tasks with the large humanoid human-interactive robot. A velocity control algorithm based on variable acceleration is developed to control the motions of the human-interactive robot so that it moves smoothly, safely, and correctly depending on the force exerted by users. The experimental results demonstrate the feasibility of the proposed force-interactive control technologies to control small and large human-interactive robots.

並列關鍵字

Mobile robots ； Interactive control ； Force-Interactive control

參考文獻

[4] Prof. H. Kozima.

[5] KEEPON.

[6] K. Kosuge, Y. Hirata, "Human-Robot Interaction," International Conference on Robotics and Biomimetics, Shenyang, China, August 22 - 26, 2004, pp.8-11.

[1] PARO Therapeutic robot. Available: http://www.parorobots.com/index.asp.

[2] Personal robots group.