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Title: | 基於協同雙臂機器人的反應向量力量/力矩阻抗控制 Reaction Vector Based Force/Torque Impedance Control for Cooperative Dual Arm Robot |
Authors: | Zhi-Xian Liao 廖智賢 |
Advisor: | 羅仁權(Ren C. Luo) |
Keyword: | 雙手臂機器人,7自由度冗餘機器手臂,避障,反應向量系統,雙手臂合作, Dual arm manipulator,7-DoF redundant manipulator,collision avoidance,reaction vector system,dual arms cooperation, |
Publication Year : | 2017 |
Degree: | 碩士 |
Abstract: | 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. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/68766 |
DOI: | 10.6342/NTU201703559 |
Fulltext Rights: | 有償授權 |
Appears in Collections: | 電機工程學系 |
Files in This Item:
File | Size | Format | |
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ntu-106-1.pdf Restricted Access | 5.59 MB | Adobe PDF |
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