多機械手臂之安全協同規劃與控制

本文主要是致力於在未知的動態環境中，多機械手臂的安全協同運作。透過所提出的控制架構，使機械手臂合作的過程能確保使用者、任務以及本身的安全。本文共分為三個部分。第一部分：使用虛擬阻抗控制，讓機器人不論面對何種障礙物皆能達到穩健、平滑、一致的反應來迴避，直到障礙物通過後再行前往目標。第二部分：考量機械手臂運動時的物理限制，在任務空間裡產生虛擬力場加入導納控制中，使機械手臂合作的過程能安全地執行任務、順應未知的環境干擾以及避開不同的效能約束。第三部分：雲端監控平台的整合，除了建立感測器資料庫外，同時也即時監控機器人運作安全。當系統檢測到危險時，透過自動發送電子信件、推播等方式，主動告知系統管理員狀況。所提出多機械手臂安全協同合作的理論與方法，經模擬及實驗驗證後，成效良好。

關鍵字

多機械手臂協同合作；虛擬阻抗控制；導納控制；機器人效能約束；雲端監控平台

並列摘要

This thesis addresses the safe cooperation of multi-robot manipulators in an unknown dynamic environment. The multi-robot manipulator cooperative process is divided into three parts. First, virtual impedance control is used to give the robot a robust, smooth, and consistent reaction for collision avoidance, no matter what kind of obstacles. Second, considering the physical limitations in the motion of the robot manipulator, a virtual force field is added to admittance control in the task space. This allows the robot manipulators to safely perform tasks, achieve compliance to unknown environmental disturbances, and avoid different performance constraints in the cooperative process. Third, the integration of a cloud monitoring platform not only establishes the database for sensor data collection, but allows for online monitoring of the safety of robot operations. When the system detects danger, it sends an automated e-mail or push notification to notify the system manager of the situation. The proposed safely cooperative multi-robot system can guarantee safety of users, tasks, and the robots themselves. The system has been justified and demonstrated through simulations and experiments. The results are promising.

並列關鍵字

Cooperation of Multi-Robot Manipulators ； Virtual Impedance Control ； Admittance Control ； Robot Performance Constraints ； Cloud Monitoring

參考文獻

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國際替代計量

多機械手臂之安全協同規劃與控制

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