機器人主動式安全防護系統之設計與探討

Active Robotic Safeguard System Design

一般對機器人系統安全性進行整體性之研究，通常侷限於人因工程、可靠度、工業安全法規、或是被動式偵測防護系統等。在本文中，建構一機器人用主動式安全防護系統，先著手設計一套實驗用系統雛型，包含硬體之構成與軟體之架構。硬體中包含一個六自由度廣義機器人，該機器人屬卡笛遜座標機構，其有高度的順從性與穩定性，且回授力大，尤其翻轉角度與位移量大，故能勝任各種工業用機器人在慣性空間各種運作情形之模擬。此系統除了機構本體外，尚包含在機器人位置上架設全方位磁感式位置追蹤感測裝置，以及各種致動器之安排，獲致電氣迴路與機構運動之完整且即時資料，透過系統傳輸介面送達中央監控系統，結合即時立體影像監控系統，使得機器人發生錯誤動作時，可減慢機器人運動速率，或透過傳輸界面軟體控制的裝置，經由控制系統本身停電剎車機能，發揮緊急停止之功效，以達到機器人即時防撞之安全措施。此系統應可用於日後各種軟硬體相關安全措施之研究與驗證。

The research for robotic safeguard system is usually limited in the fields of human factors, reliability, industrial safety standards, or the passive detection systems. An active robotic safeguard system is established for this study. This system is designed as an experimental prototype, including related hardware and software. The six-degree-of-freedom generalized robot is a Cartesian-based mechanism with high compliance and stability. Due to the huge feedback force of this robot, and the great amount of angular and linear movements, it is suitable for the industrial robotic motion simulation in the inertial space. In addition to the mechanism, the system also contains an omni-direction magnetic position tracking system and various actuators, to obtain the complete electrical and mechanical real-time data. These data can be sent to the central monitoring and control system via the system interface. With the real time 3D image supervision system integrated, the safeguard system can reduce the robot motion speed, or shut down the robot, via the interface with software and the hardware emergency-stop control when the abnormal motion of a robot occurs, to perform the real time robotic collision avoidance function. This system can be used for the research and verification of software and hardware safeguard functions.