臺灣博碩士論文加值系統

近年來，機器人已逐漸涉及醫療保健、家庭生活與社會福利。當這些社會需求增加時，人們將會迫切地需要在人類與機器人間擁有安全機制界面之機器人。本論文的目標在於建構一隻能夠與人類共存的類人形機械手臂。此一具有七自由度之機械手臂乃由肩部、肘部與腕部所組成，且在前臂設計了一個擁有可感知外力之外罩。本論文提出基於智慧型阻抗控制之控制策略，藉以產生順應性運動。最後，以實驗來驗證本論文所建構之具力感知外罩之類人形機械手臂，所做的實驗包含自由空間運動及順應性運動控制。

In recent years, robots have been gradually involving in health care, home life and social welfare. As these societal needs increase, the creation of robots with the capability of safe physical human-robot interaction will be required. The objective of this thesis is to design an anthropomorphic robot arm that can share the environment with humans. The constructed robot arm with 7 degrees of freedom comprises shoulder, elbow and wrist joints. A force-detectable surface cover is designed and installed on the forearm. A control strategy based on an intelligent impedance controller is also proposed to create compliant motion. Finally, the theoretical results are experimentally verified on the constructed anthropomorphic robot arm with a force-detectable surface cover. Specific experimental demonstrations include unconstrained maneuvers and compliant motion control.

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
圖目錄 vii
表目錄 ix
符號說明 x

第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 1
1.3 文獻回顧 2
1.4 本文內容與架構 4

第二章 具力感知外罩之機械手臂之設計 5
2.1 機械手臂設計之要點 5
2.2 機械手臂之機構設計 6
2.3 具力感知外罩之架構 12
2.4 各電路板之運作方式 14
2.5 完整的系統架構 16

第三章 機械手臂的運動學分析 18
3.1 座標系統之定義 18
3.2 機械手臂之座標系統 19
3.3 機械手臂之順向運動學 23
3.4 機械手臂之逆向運動學 27
3.5 機械手臂之速度運動學 30
3.6 工作空間之軌跡規劃 38
3.6.1 空間中之直線路徑 38
3.6.2 空間中之圓形路徑 39
3.6.3 空間中之方位 41
3.6.4 軌跡規劃 43
3.7 模擬結果 45

第四章 智慧型阻抗控制 49
4.1 具力感知外罩之接觸力分析 49
4.2 目標阻抗參考軌跡 53
4.3 機械手臂動力學 56
4.4 類神經網路控制器 57

第五章 實驗 63
5.1 實驗設置 63
5.2 力量感測器之訊號前處理 64
5.3 接觸位置之精確度 68
5.4 軌跡追蹤實驗 69
5.5 順應性實驗 73

第六章 結論 78
6.1 結果與討論 78
6.2 未來發展 79

參考文獻 80
自述 85

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