全自主避障之七自由度冗餘機器手臂於人機互動之應用

Abstract

隨著世界人口的成長率越來越低，我們不僅仰賴機器人協助我們的工作，更依賴他們代替人去完成較危險或困難的任務，尤其在工廠自動化、居家生活領域或者是醫療環境下更是仰賴。 不幸的是，現今的機器人還未發展到可以完全取代人類或是完成人類的所有要求，因此機器人勢必會與人在同一個工作區間下共同合作完成工作或任務。然而，隨著人與機器人之間的距離縮短，越來越多安全性的議題必須被注意討論。所以，在機器人領域當中，安全性的合作是最重要的一環，因此，在此論文中，我們將提出一個接觸性和非接觸性的避障系統於七自由度冗餘機械手臂。 首先，我們將詳細的討論了球形-迴轉-球形（S-R-S）組態機械手臂的結構。其次，把每個步驟於感官系統適用於非接觸性的避障方式給一一說明，此部分為碰撞偵測。接下來，我們針對接觸性的障礙物和非接觸性的演算法做各自的說明，並結合兩個演算法達到最佳安全性。基於上述的演算法，機械手臂會自動性產生軌跡來避開障礙物來達到全肢手臂避開障礙物的概念。最後的實驗結果，是使用了國立臺灣大學智慧機器人及自動化國際研究中心(NTU- iCeiRA)設計製作的7自由冗餘機械手臂，以及Kinect深度感應器所開發的。

With the decrease of the population growth rate in the whole world, we depend on the robot not only to assist in our work but also to do some dangerous or difficult tasks, especially in the automatically industrial environment, domestic service, and medical field. However, the robot cannot well-developed entirely for any requirement to replace human operators, so robots would most likely share the same workspace with human beings when dealing with tasks. Nevertheless, as we are too close to the robot, the probability of accidents may increase. Therefore, collaboration and interaction for safety are considered as one of the most important features of robotic applications. Thus, in this thesis, we propose a contact and non-contact collision avoidance system for a 7-DoF redundant robot manipulator for human-robot interaction. To begin with, the case of spherical–revolute- spherical (S-R-S) type manipulator is elucidated. Secondly, a procedure of perception system on non-contact collision avoidance system is presented. Next, we provide algorithms for non-contact and contact obstacles for safety issue. Based on above algorithms, the methods of manipulator reaction are provided which makes manipulator automatically generate trajectory to avoid obstacles. As a result, the robot can achieve active whole-arm collision avoidance. Experimental results with NTU-iCeiRA 7-DoF arm developed in our lab and Kinect depth sensor are presented.