隨著工業4.0和智慧製造的推進，協作型機械手臂的高效率及高靈活度，使產業界的需求日益提高，而避障技術對工廠之安全性有不可或缺的重要性。本論文針對可以軌跡模仿的動態運動原語軌跡規劃方法提出了兩種避障策略演算法。首先，本論文透過控制障礙函數於理論上可以確保系統狀態始終維持在定義之安全集合的特性，將機械手臂末端效應器的位置與速度設定為系統狀態，則即可設計控制障礙函數使動態運動原語所組成的系統狀態方程式中的耦合項確保系統維持在安全集合中，是為本論文提出的第一個主動避障策略，「基於控制障礙函數之避障耦合項」。而如果任務對軌跡形狀的一致性有強烈要求，則不適用主動避障策略，故本論文利用動態運動原語中時間尺度常數可以調節系統收斂速度的特性，並參考相對論中時間膨脹的概念，使系統在接近障礙物周圍時受到虛擬重力場的影響而降低收斂速度，一旦障礙物自動離開或人為排除後，則系統即可依原定軌跡繼續執行任務，此為本論文提出的第二個避障策略，「基於時間膨脹之時間尺度調整法」。最後，透過本論文所設計的模擬與實驗場景，在靜態或動態障礙物的實驗結果皆顯示本論文提出方法之有效性。

With the advancements of Industry 4.0 and smart manufacturing, the high efficiency and flexibility of collaborative robot manipulators have been in increasing demand. Collision avoidance technology plays a crucial role in ensuring the safety of factories. This thesis proposes two obstacle avoidance strategy algorithms for dynamic movement primitive trajectory planning that can perform trajectory imitation. First, by Control Barrier Function, it is theoretically possible to ensure that the system states always remain within a defined safe set. By setting the position and velocity of the robotic manipulator's end effector as system states, a control barrier function can be designed to ensure that the coupling terms in the system state equation composed of dynamic movement primitives keep the system within the safe set. This constitutes the first proactive obstacle avoidance strategy proposed in this thesis, "Control Barrier Function Based Collision Avoidance Coupling Term." However, if the task requires strict consistency of the trajectory shape, the proactive obstacle avoidance strategy is not suitable. Therefore, this thesis utilizes the characteristic of the time scale constant in dynamic movement primitives to adjust the system convergence speed, inspired by the concept of time dilation in the theory of relativity. The system slows down its convergence speed under the influence of a virtual gravitational field when approaching obstacles. Once the obstacles are automatically removed or manually cleared, the system resumes its original trajectory to complete the task. This is the second collision avoidance strategy proposed in this thesis, "Time Dilation Based Time Scale Adjustment Approach." Finally, through the simulation and experimental scenarios designed in this thesis, the experimental results for both static and dynamic obstacles demonstrate the effectiveness of the proposed algorithms.

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