Collision Avoidance of a 7-DoF Redundant Manipulator System for Human-Robot Interaction Applications

• Main Authors: Yi-Ting Chung, 鍾宜庭
• Other Authors: Ren C. Luo
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/78125228785346160606

碩士 === 國立臺灣大學 === 電機工程學研究所 === 103 === 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.