臺灣博碩士論文加值系統

隨著科技的進步、勞力成本的提升，產業自動化的需求有增加的趨勢。一開始產業會使用單臂機器人來取代生產線的人力，但生產過程中，許多技術人員雙手可以完成的動作，單臂機器人須倚靠額外的器具來輔助完成生產線上的任務，為解決這個問題，多台單臂機器人同時工作或是雙臂機器人的研究也隨之興起。其中又因為雙臂機器人成本較低、空間利用效率高、類似人的靈活性及高配合度，而成為主要的發展趨勢。人的雙手除了本身的靈活性外更因為可以合作而顯得萬能。在合作的同時，雙手臂運動過程中干涉及碰撞更是不能忽略的安全議題。
因此，本論文提出與實做一個可用於模組化雙七軸手臂機器人的合作系統，並且具有反應向量系統以防止雙手臂運動中互相產生碰撞，而整體的運動控制是以力矩阻抗控制為基礎，透過視覺感測器來偵測判斷雙臂機器人要執行的任務，是要合力夾取單一物體，抑或是分別各夾取一個物體再做對應的動作，而此決策系統會定義手臂及待夾取零件的位勢，此位勢的定義會影響反應向量的引力向量或斥力向量，進而讓反應向量系統產生運動的軌跡，在手臂的運動過程中，本論文提出的反應向量系統會偵測雙手臂碰撞的可能，並因應產生可以避開另一隻手臂的向量，透過系統中已設計好的線上軌跡產生器來產生軌跡，最後透過阻抗控制外加一牽引力矩成為的阻抗力矩控制來控制各軸馬達，使雙手臂都能完成所預期的動作及任務。

With the advantage of technology and increasing of labor cost, there is an increasing tend in industrial automation. At the beginning, the industry use single-arm robot to replace employees of production line. However, there are many motion which human can achieve but single-arm robot can’t. They need another holder or aids to help them finishing the mission. In order to solve this problem, the research of multi robots synchronized working and the research of dual-arm robot emerge along with it. Because of the low cost of dual-arm robot, high space utilization, the anthropomorphic dexterity, and anthropomorphic high coordination degree, the dual-arm robot become the main trend of development. In addition to having dexterous arms, dual-arm cooperation makes human arms more omnipotent. The safety issue of collision avoidance can’t be ignored when dual arms are cooperating.
Therefore, this thesis proposes and implements a cooperation system for a modularized 7 degrees of freedom dual-arm manipulator, which have a reaction vector system to detect the risk of collision and avoid the collision. And the motion of the dual-arm manipulator is based on impedance torque control. Through the vision sensor, the dual-arm manipulator can detect and decide the mission. Is the mission that the dual arms need to cooperate gripping the component? Or is the mission that each arm needs to grip one component and then does the corresponding motion? And this decision system defines the potential of dual arms and the components. The potential will make the reaction vector system produce the attractive vector or the repulsive vector between the two. And then the vectors make the reaction vector system produce a movement trajectory. In the process of motion, the reaction vector system which this thesis proposed can detect the risk of the dual arm collision and produce the corresponding vector to dodge the other arm. Then the vector-based online trajectory generator is provided in the reaction vector system to smooth jerky commands. At last, applying an external guiding torque to the impedance control becomes the impedance torque control, and control the each motor of axis to reach the angle which we want. The dual-arm manipulator also finish the mission.

口試委員會審定書 i
誌謝 ii
中文摘要 iii
Abstract iv
Chapter 1 Introduction 1
1.1. History 1
1.1.1. Industrial robot arms 1
1.1.2. Modular robots 5
1.1.3. Collaborative robots 6
1.2. Motivation and Objective 7
1.3. Literature Review 7
1.4. Thesis Structure 12
Chapter 2 Modularized 7-DoFs Dual-Arm Robot 14
2.1 Mechanical Design of Dual-Arm Robot 15
2.1.1. Design of Modular Robot Joint 16
2.1.2. Modular Actuator Dual-Arm Robot 20
2.1.2.1. Bilateral Symmetrical Articulated robot arm 22
2.1.2.2. Bilateral Asymmetrical Articulated robot arm 26
2.1.2.3. Head with Microsoft Kinect RGBD sensor 29
2.1.2.4. Kinect RGBD sensor 30
2.1.2.5. Robotiq Adaptive Gripper 33
2.2 Communication and Real-Time Operating System 38
2.2.1. EtherCAT 38
2.2.2. Real-Time Operating System (RTOS) 39
2.2.3. Distributed Motion Control System 41
Chapter 3 Kinematics of Manipulator 44
3.1. Spatial Descriptions and Transformation 44
3.1.1. Transformation matrix 44
3.1.2. Three-Angle Representation 45
3.1.3. Angle–Axis Representation 45
3.2. Differential Motion 50
3.3. Forward Kinematics 52
3.3.1. Forward Kinematics of Manipulators 52
3.3.2. Velocity Relationship: The Manipulator Jacobian 54
3.3.3. Kinematics Model of Modularized 7-DoFs Dual-Arm Robot 56
3.4. Inverse Kinematics of Manipulator 60
3.4.1. Numerical Solution 60
3.4.1.1. Jacobian Linearization Method 60
3.4.1.2. Singularity Avoidance Method: Damped Least Squares (DLS) 61
3.4.1.3. Joint Limit Avoidance Method: Weighted Least Norm (WLN) 62
3.4.2. Analytical Solution 64
3.4.2.1. Closed-Form Solution of 6-DoFs Manipulator 64
3.4.2.2. Analytic Solution for 7-DoFs Bilateral Symmetrical Articulated Robot Arm 68
3.4.2.3. Analytic Solution for 7-DoFs Bilateral Asymmetrical Articulated Robot arm 71
Chapter 4 Overall System Structure 76
4.1. Overall System Structure 76
4.2. Dual-Arm Robot Self-Collision Avoidance 79
4.3. Dual-Arm Robot Cooperation 79
Chapter 5 Reaction Vector System 81
5.1. Problem Statement 81
5.2. Arm Localization 81
5.3. Collision Detection 83
5.4. Reaction Vector Generator 84
5.4.1. Attractive Vector Generator 84
5.4.2. Repulsive Vector Generator 86
5.4.2.1. Repulsive Vector of Tip (RVT) 87
5.4.2.2. Repulsive Vector of Body ( RVB) 88
5.5. Vector-based Online Trajectory Generator 91
Chapter 6 Force/Torque Impedance Control System 92
6.1. Impedance Control 93
6.2. Force/Torque Impedance Control 94
6.2.1. Force/Torque Impedance Control Law 94
6.2.2. External Guiding Force/Torque 96
6.2.3. Gravity Compensation 98
Chapter 7 Potential Decision System 102
7.1. Object recognition 102
7.2. Potential Decision 103
Chapter 8 Experimental Results 104
8.1. Force/Torque Impedance Control 104
8.2. Dual-Arm Robot Self-Collision Avoidance 118
8.3. Dual-Arm Robot Cooperation 127
Chapter 9 Conclusions and Contributions 129
Chapter 10 Future Works 131
REFERENCE 132
VITA 138

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