異質雙臂協作關鍵控制技術開發

本研究針對異質雙臂協同搬運任務，開發一種無需通訊之主從式控制架構。核心技術包含：(1) 外 擾觀察器 (DOB) 設計：將雙臂位移差視為外擾，利用從臂力感測資訊推估主臂動態，並透過轉移函數反 模型補償運動誤差，實現高同步跟隨。(2) 力回授控制：即時修正目標力誤差並輸出速度補償訊號，如 接觸力 RMSE（Root Mean Square Error，均方根誤差）由 0.615 N 降至 0.151 N，以及速度追隨 RMSE 由 0.000354 m/s 改善至0.00029 m/s，確保協作過程之接觸穩定性與系統安全性。此架構有效解決了傳統協作 對通訊頻寬的依賴。

This study develops a communication-free master-slave control architecture for heterogeneous dualarm collaborative handling tasks. The core technologies include: (1) External Disturbance Observer (DOB) design: treating the displacement difference between the two arms as an external disturbance, estimating the dynamics of the master arm using force sensing information, and compensating for motion errors through an inverse transfer function model to achieve high-synchronization following. (2) Force Feedback Control: real-time correction of target force errors and output of velocity compensation signals, such as reducing the contact force RMSE (Root Mean Square Error) from 0.615 N to 0.151 N, and improving the velocity following RMSE from 0.000354 m/s to 0.00029 m/s, ensuring contact stability and system safety during the collaborative process. This architecture effectively solves the dependence of traditional collaborative systems on communication bandwidth.