經由人類運動控制啟發之新的碰撞控制法則

Abstract

在機器人執行順應性工作時，碰撞現象是無法避免的。碰撞產生很大的交互作用力，並且劇烈的改變機器人的運動。碰撞有激發機器人的振盪或是不穩定的傾向。而且太大的碰撞力對機器人和環境都是有害的。在這篇論文中，經由人類運動控制的啟發，我們提出了一個用於非預期性碰撞的控制法則。一個反射機制被用來幫助阻抗控制器(impedance controller)處理非預期性碰撞。碰撞是以模擬人類反射，用半開迴路的方式來控制。我們所提出的方法具有簡單，運算有效率的特性。在一個很大的環境變動範圍內，都能有令人滿意的表現。

Impact is an inevitable phenomenon in operating a robot to perform compliant tasks. Impact induces large interaction force and deviates the robot motion abruptly. It tends to excite the oscillation or the unstability of the robot. Also, large impact forces is harmful to the robot and the environment. A novel control scheme for unexpected impact inspired by the human motor control is proposed in the thesis. A reflex mechanism is used in the proposed scheme to aid an impedance controller to deal with unexpected impact. Impact is tackled in a semi-open loop manner emulating human reflex. The proposed scheme is simple and computationally efficient. Satisfactory performance is achieved for a wide range of environment variations.