| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 105 === This thesis addresses the safe cooperation of multi-robot manipulators in an unknown dynamic environment. The multi-robot manipulator cooperative process is divided into three parts. First, virtual impedance control is used to give the robot a robust, smooth, and consistent reaction for collision avoidance, no matter what kind of obstacles. Second, considering the physical limitations in the motion of the robot manipulator, a virtual force field is added to admittance control in the task space. This allows the robot manipulators to safely perform tasks, achieve compliance to unknown environmental disturbances, and avoid different performance constraints in the cooperative process. Third, the integration of a cloud monitoring platform not only establishes the database for sensor data collection, but allows for online monitoring of the safety of robot operations. When the system detects danger, it sends an automated e-mail or push notification to notify the system manager of the situation. The proposed safely cooperative multi-robot system can guarantee safety of users, tasks, and the robots themselves. The system has been justified and demonstrated through simulations and experiments. The results are promising.
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