Development of an Integrated System for a Humanoid Robot Arm
           

- 指導教授 黃漢邦 博士 研究生 管軍毅

- Advisor :Dr.Han-Pang Huang Student :管軍毅

Lab. of Robotics., Department of Mechanical Engineering National Taiwan University Taiwan
Abstract:

The aim of this thesis is to develop an integrated system of a humanoid robot arm to be assembled into any kind of robot platforms designed for different purposes, say to cooperate, assist, and even interact with humans in different fields and environments.
To develop the integrated system of a humanoid robot possessing the aforementioned functions and capacities, this thesis mainly contains two major parts. The first part focuses on developing an integrated system of a rigid humanoid robot arm in which the safety level of human-robot interaction is not carefully considerate. Construction of mechanism and hardware and development of smooth trajectory planning and robust control theorems are emphasized. For the reason that the traditional actuation design causes the robot hardly interact with people and environments under safety constraints and satisfy performance requirements simultaneously, the second part discusses the actuation design promising a proper safety level of human-robot interaction, and what is more, provides new actuation making a compromise between a proper safety level of human-robot interaction and good performance of manipulation.


In the first part of the thesis, design of a 7-DOF humanoid robot involving in mechanism design and control hardware construction is presented and discussed; a trajectory planning method of generating a smooth trajectory with joint limit, singularity and obstacle avoidance is proposed; a near chattering-free robust control theorem based on sliding mode control scheme is developed.


The second part of the thesis proposes a new actuation approach, Coupled Elastic Actuation, to provide oncoming humanoid robot arms an intrinsic compromise between performance and safety in unstructured environments; moreover, a linear model constructed to present a general Coupled Elastic Actuation system provides useful information to analyze the performance and characteristics of the system, and benefits to design a suitable controller with respect to the corresponding system.


In the long run, a prototype of an Adaptive Coupled Elastic Actuator with adjustable characteristics adaptive to the applied output force and input force is invented, providing a favorable solution by a novel TorqueSwitch mechanism.
Keywords: humanoid robot arm, trajectory planning, sliding mode control, chattering-free, human-robot interaction, Coupled Elastic Actuation, Adaptive Coupled Elastic Actuator

 

中文摘要:  

本論文主要的目的，在發展不同於傳統工業機器手臂之擬人形機器手臂整合系統。此系統將可安裝於為不同目的而設計的機器人平台上，應用於不同環境中，取代人類或協助人類工作，甚至與人類進行安全的互動行為。


為了研發出一具備上述功能之多自由度擬人形機器手臂整合系統，本論文主要可分為兩大部分。第一部分將著重於擬人形機器手臂之機構與硬體架構建制，平滑軌跡規劃理論與強健控制理論之發展。而有鑑於傳統的致動器，無法同時滿足操作效能與安全互動之需求，本論文的第二部分將討論具安全互動行為機制的致動器與設計準則，提出一可分別滿足安全與效能之驅動方式與致動器設計。此設計將可取代傳統致動器，安裝於任一機器人系統上，提升系統性能。


論文第一部分，擬人形機械手臂之機構與硬體架構建制，包含擬人形機器手臂與單一自由度夾爪之機構設計與硬體控制架構之整合與實現。平滑軌跡規劃理論，則針對擬人形機器手臂，提出一可避免演算奇異點及具避障效果之平滑軌跡規劃方法。強健控制理論，建立於可變結構控制(sliding mode control or variable structure control)架構之上，提出可消除或減少控制訊號之顫振現象(chattering phenomenon)的強健控制器。


論文第二部分，則提出一可以滿足人機安全互動及提升系統效能的彈性耦合驅動方式(Coupled Elastic Actuation)，並建立具有此特性之系統廣義線性數學模型，更進一步針對此一模型進行分析與控制器設計。最後並實際設計製作一可隨負載外力與控制輸入自行調整輸出特性的適應性彈性耦合致動器(Adaptive Coupled Elastic Actuator)，並解釋其作用原理。


未來期許以本論文所發展的適應性彈性耦合致動器來取代傳統致動器設計，安裝於所設計製作的多自由度擬人形機器手臂上，應用於不同環境中，達到具有高操作效能仍可與人類進行安全的互動行為之最終設計目標。