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研究生： 崔源濬
Tsui, Yuan-Chun
論文名稱： 非接觸式避碰演算法與策略應用於雙手協作機器人
Non-contact Collision Avoidance Algorithm and Strategy for Dual-Arm Collaborative Robots
指導教授： 張禎元
Chang, Jen-Yuan
口試委員: 陳榮順
Chen, Rong-Shun
馮國華
Feng, Guo-Hua
李俊則
Lee, Chun-Tse
李志鴻
Li, Chih-Hung
學位類別： 碩士
Master
系所名稱： 工學院 - 動力機械工程學系
Department of Power Mechanical Engineering
論文出版年： 2023
畢業學年度： 111
語文別： 中文
論文頁數： 111
中文關鍵詞： 反射向量 、避碰策略 、雙手協作
外文關鍵詞： Repulsive Vector, Collision Avoidance, Dual-Arm Collaboration
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    • 為了滿足工業4.0更加彈性、自動化且自適應的製造系統，人機協作的製造方式被提出，達成彈性製造之需求，而在這樣的工作模式下，安全性即為第一且最重要之考量。
    為了製造出安全的人機協作環境，許多研究針對機械手臂避免碰撞的方法進行探討，其中非接觸式避碰方法中，反射向量為人工勢場法中的變形，其原理是將機械手臂與障礙物之間以簡單的反射速度命令進行約束，使機械手臂靠近障礙物時就會產生反向的速度命令。
    然而，過去的反射向量避碰法中，仍然有不足之處，因此本研究針對過去的反射向量避碰法進行改良，使機械手臂擁有全手臂避碰能力的同時，不會被過去反射向量作用點的數量與位置取捨問題所限制。
    除此之外，本研究也探討不同的反射向量函數對於避碰表現的影響，並將其發展為一避碰策略，使機械手臂能根據當下障礙物的種類、距離以及速度，產生相對應的反射向量，使避碰行為更佳智慧化。
    本研究也將改良後的反射向量避碰法，整合進入雙手臂的協作系統中，並且也提出一種權重定義方式，使雙手協作任務被定義的同時，閃避障礙物的方式也被定義完成。最後再根據實際應用方面，提出本研究之未來展望。

    Numerous studies have investigated methods for collision avoidance of robotic arms. Among these non-contact collision avoidance methods, the concept of a repulsive vector is derived from artificial potential field methods. The principle behind this is constraining the robotic arm and obstacles through repulsive velocity commands, resulting in a reverse velocity command when the robotic arm approaches an obstacle.
    However, past methods based on the repulsive vector approach still demonstrate shortcomings. Therefore, this research aims to enhance the previous repulsive vector method, endowing robotic arms with full-arm collision avoidance capability while avoiding limitations posed by the quantity and placement of repulsive vector application points in the past.
    Furthermore, this study explores the influence of different repulsive vector functions on collision avoidance performance and develops it into a collision avoidance strategy. This strategy enables the robotic arm to generate corresponding repulsive vectors based on the current obstacle's type, distance, and velocity, leading to enhanced collision avoidance behavior with greater intelligence. The improved repulsive vector collision avoidance method is also integrated into a dual-arm collaborative system. Additionally, a weighting definition approach is proposed, allowing dual-arm collaborative tasks to define obstacle avoidance methodologies while defining the collaborative tasks. Finally, possible future advancements that result from this research within real-world applications are discussed.

    摘要 -------------II Abstract -------------III 致謝 -------------IV 目錄 -------------I 圖目錄 -------------V 表目錄 -------------XI 第一章 緒論-------------1 1.1 前言-------------1 1.2 研究動機-------------3 1.3 文獻回顧-------------4 1.3.1 接觸式避碰-------------4 1.3.2 非接觸式避碰-------------6 1.4 研究問題與目標-------------11 1.5 研究方法與步驟-------------12 第二章 系統架構與理論背景-------------14 2.1 前言-------------14 2.2 機械手臂-------------14 2.2.1 Denavit-Hartenberg 參數-------------14 2.2.2 正向運動學(Forward Kinematics)-------------18 2.2.3 逆向運動學(Inverse Kinematics)-------------19 2.2.4 雅可比矩陣(Jacobian Matrix)-------------22 2.2.5 硬體架設-------------23 2.3 模型預測控制-------------24 2.3.1 模型預測控制概述-------------25 2.3.2 軌跡規劃-------------28 2.4 機器視覺系統-------------31 2.4.1 硬體架設-------------32 2.4.2 障礙物辨識-------------33 2.4.3 障礙物定位-------------36 2.5 本章總結-------------39 第三章 反射向量避免碰撞演算法-------------40 3.1 前言-------------40 3.2 模型預測控制障礙物閃避-------------40 3.3 反射向量避碰法-------------41 3.3.1 自調式控制點-------------42 3.3.2 反射函數探討與分析-------------50 3.3.3 形狀因子a與障礙物速度估測-------------55 3.4 障礙物閃避實驗-------------57 3.4.1 全手臂避碰-------------57 3.4.2 反射函數切換實驗-------------61 3.4.3 不同反射函數與Shaping factor α調變實驗-------------63 3.5 多障礙物閃避策略-------------76 3.6 本章總結-------------78 第四章 雙手協作-------------79 4.1 前言-------------79 4.2 雙手座標系-------------79 4.3 雙手協作任務-------------83 4.3.1 雙手協作任務定義-------------83 4.3.2 HQP (Hierachical Quadratic Programming)-------------84 4.4 雙手協作與避碰-------------85 4.4.1 全手臂避碰與雙手協作-------------85 4.4.2 Weighting-QP-------------86 4.5 雙手協作避碰實驗-------------88 4.5.1 HQP雙手協作避碰-------------88 4.5.2 Weighting-QP雙手協作避碰-------------92 4.5.3 角速度限制避碰實驗-------------96 4.6 本章總結-------------103 第五章 結論與未來展望-------------104 5.1 結論-------------104 5.2 未來展望-------------106 參考文獻 -------------108

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