臺灣博碩士論文加值系統

順應式控制是機器人與人互動之研究領域中，很重要的一項議題。加入順應性控制的設計，將提升互動時的安全性，並提供更多互動的可能性。本論文利用安裝在機器人手腕上的六軸力感測器，實現順應式阻抗控制系統。當機器人與人牽手行進時，機器人可以透過偵測互動者的施力，推算手臂末端點與底盤的移動距離，完成牽引與導航的任務。阻抗控制是實現順應式控制的一種方法，其主要將機器人的手臂末端模擬成一個質量點，並且賦予其物理特性，藉由讀取外界對於手臂末端的施力，推算出末端點應有的移動距離，使得手臂可以順著互動者的施力移動。為使末端的移動在互動時更加順暢，本論文加入模糊控制系統，調整阻抗控制中的三個參數，使手臂末端的模擬質量，可以根據當時的受力即時調整，並且透過估測受力大小與方向，控制機器人底盤移動的方向與速度。本論文中，機器人與人牽手行進包含兩個任務，人帶領機器人前進以及機器人導引人前進。在這兩個任務中，機器人皆透過阻抗系統得知互動者的施力狀況，規劃自身前進的方向與速度，以及手臂末端點移動的位置，能與互動者維持一定的距離。實際實驗結果顯示，所研製系統可針對不同的互動者，計算出合適的系統參數，成功地完成帶領與導航任務。

Impedance control is an important research topic in human-robot interaction be-cause it can increase the safety and the variety of interactions. The thesis realizes an impedance control system by mounting a 6-axis force sensor on the wrist of the home service robot. When the robot and a person are walking hand on hand, the robot detects the handing force from the person and generates a suitable pose of its end-effector and a moving path of its mobile platform to accomplish the leading and the guiding missions. The proposed impedance control system treats the end-effector of the robot arm as a point mass with physical property and detects the force from the environment to calcu-late the next pose which it should move to. Therefore, the arm can move following the force imposed by the person. For further improving the performance, we add a fuzzy controller to real-time adjust three parameters of the impedance control system and to plan the moving direction and velocity of the robot. In this thesis, we implement the impendence control system in leading and guiding missions. In the leading mission, the person leads the robot to go through a specific path. Whereas, the robot can guide a blind person by handing on her/his hand in the guiding mission. All the real experiments demonstrate the efficiency of the proposed system and the robot successfully accom-plishes these two missions.

摘要 I
Abstract II
Acknowledgement III
Content IV
List of figures VI
List of table X
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Related works 2
1.2.1 Impedance control system 2
1.2.2 Human-robot interaction 3
1.3 Home service robot 4
1.3.1 6 axis force torque sensor 5
1.3.2 Forward kinematics 6
1.3.3 Inverse kinematics 9
1.4 Thesis Organization 10
Chapter 2 Impedance Control System 12
2.1 Introduction 12
2.2 System overview 13
2.3 Impedance control 14
2.3.1 Impedance model 15
2.3.2 Preprocessing 18
2.4 Rotation matrix 19
2.4.1 Roll Pitch Yaw (RPY)-rotation 20
2.4.2 Static compensation 21
2.5 Possible solution 23
Chapter 3 Fuzzy Impedance Control System 26
3.1 Introduction 26
3.2 System overview 27
3.3 Dynamic impedance control 28
3.3.1 Inertia 30
3.3.2 Damping 31
3.3.3 Stiffness 32
3.4 Fuzzy impedance 33
3.4.1 Problem description 33
3.4.2 Feature extraction 35
3.4.3 Fuzzy system 37
3.5 Experiments 40
3.5.1 Experiments setup 41
3.5.2 Three Axes Experiments 43
3.5.3 Experiment: three dimensional space 48
Chapter 4 Strategies of Human-Robot Accompanying 51
4.1 Human interacts with robot 51
4.2 Strategy of interaction 52
4.2.1 Strategy: Leading task 53
4.2.2 Strategy: Guiding task 57
4.3 Experimental results: Leading task 63
4.3.1 Function display 63
4.3.2 Demo: Leading task 66
4.4 Experimental results: Guiding task 68
Chapter 5 Conclusion and Future works 73
5.1 Conclusion 73
5.2 Future works 74
References 76

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