臺灣博碩士論文加值系統

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。

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.

誌謝 i
摘要 iii
Abstract v
List of Tables ix
List of Figures xi
Nomenclature xv
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Contributions 4
1.3 Framework of Thesis 6
Chapter 2 Multi-Body Kinematics and Dynamics 9
2.1 Multi-Body Kinematics 11
2.1.1 Forward Kinematics 13
2.1.2 Jacobian Matrix 14
2.1.3 Inverse Kinematics 17
2.1.4 Singularity Avoidance 19
2.1.5 Joint Limit Avoidance 20
2.2 Multi-Body Dynamics 22
2.2.1 Inverse Dynamics 23
2.2.2 Forward Dynamics 26
Chapter 3 Cooperative Theory and Control 29
3.1 Virtual Impedance Control for Collision Avoidance 31
3.1.1 Risk Space 31
3.1.2 Virtual Impedance Control in the Risk Space 34
3.1.3 Trajectory Modification 36
3.2 Performance Constraints for Avoidance 37
3.2.1 Singularity Avoidance 38
3.2.2 Acceleration Limit Avoidance 43
3.2.3 Acceleration Distribution 48
3.3 Admittance Control for Cooperation 51
3.3.1 Object Motion and External Force Estimation 52
3.3.2 Internal Force Control 54
3.3.3 Trajectory Tracking and Environment Compliance 56
3.4 Summary 58
Chapter 4 Multi-Robot System 59
4.1 Control Flow Chart 59
4.2 Platform of Cloud Robot Monitoring 61
4.3 Specification of NTU Robot Manipulators 66
4.3.1 Six-DOF Robot Manipulator 66
4.3.2 Eight-DOF Robot Manipulator 69
4.4 Hardware Platform 72
4.4.1 EtherCAT Based Controller 72
4.4.2 CAN-Bus Based Controller 73
4.4.3 Force/Torque Sensor 75
4.4.4 Kinect Sensor 79
4.5 Software Platform 80
4.6 Summary 84
Chapter 5 Simulations and Experiments 85
5.1 Virtual Impedance Control 85
5.2 Singularity Avoidance in Cartesian Space Control 91
5.3 Admittance Control for Cooperation 94
5.4 Cloud Robot Monitoring 104
Chapter 6 Conclusions and Future Works 107
6.1 Conclusions 107
6.2 Future Works 108
Appendix 109
References 113
Biography 119

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