一般工業機械手臂具有高速、高精及高重複等特性，為自動化製造現場帶來益處，然而隨著人力成本提高，對於中小型企業，在空間有限的製造現場，更需要的是具有製造彈性、安全性的協作型機械手臂。對此，國際標準組織訂定出ISO/TS 15066針對協作型機器人安全性進行規範，國際機器人聯盟也提出了四種人機交互等級。然而協作型機器人的相關技術相較傳統工業機械手臂更複雜且跨領域，國內外製造大廠以及知名大學皆關注於此。對於製造業來說，若能結合協作型手臂以及傳統工業機械手臂之特性，預期能帶來更大的效益。
為此，本研究提出「以OPC UA為基之智慧防碰撞機械手臂協作系統實現」，以兩子系統建構機械手臂協作系統，兼顧人機交互以及防碰撞兩大協作手臂功能，並以多模組方式進行「感知、認知、傳輸、決策以及執行」，協助機械手臂進行協作，模組間透過OPC UA開放且跨平台的特性進行訊息共享，不僅快速建構機器對機器間的通訊，更可快速進行系統擴充。
經由測試各模組的效能，並進行系統驗證，確保了智慧防碰撞以及人機交互功能可行性。其中，智慧防碰撞預期可於每500毫秒內進行反應，人機交互方面更可藉由RFID識別不同人員進行不同的運動任務，使本研究之機械手臂協作系統兼具彈性與安全性。
本研究提供一種多模組、跨平台的人機協作框架，並進行性能分析與測試，驗證其可行性；於產業界，本系統提供之機械手臂協作系統可快速且低成本地導入製造場域，利於在有限的製造現場中提供彈性且安全的人機協作製造模式。

The general industrial robot arm has the characteristics of high speed, high precision, and high repetition, which brings benefits to the automated manufacturing site. However, with the increase of labor cost, the collaborative robot arm with manufacturing flexibility and safety is more needed for small and medium-sized enterprises in the manufacturing site with limited space. For the manufacturing industry, if combined with the characteristics of cooperative arms and general industrial robot arms, it is expected to bring greater benefits.
To this end, this study proposed " Implementation of Collaborative Industrial Robot Arm System with Smart Collision Avoidance by Using OPC UA." The robot arm collaboration system is constructed with two subsystems, which include human-robot interaction and collision avoidance. "Perception, cognition, transmission, decision making and execution" in a multi-module manner, assisted the robot arm to collaborate and shared information between modules through OPC UA.
Test the performance of each module and verify the system. It ensures the feasibility of smart collision avoidance and human-robot interaction functions. Smart collision avoidance is expected to respond within 500 milliseconds. In the aspect of human-robot interaction, the robot arm collaboration system is flexible and safe by identifying different people to perform other tasks.

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