本論文主要是製作一個類似毛毛蟲外型的三節式機器人，有二個關節各由一顆直流馬達帶動其動作，我們分別以PC和FPGA來實現其控制目的，完成爬行、站立等動作。本機器人的製作及控制由兩位同學合作完成，分別以三節式機器人之站立控制及三節式機器人之爬行控制二本論文呈現。而本論文主要在探討三節式機器人如何在不同的傾斜地面上執行爬行前進的動作。由於機器人原本的設計是用來執行由平躺到直立的動作，因此在機構設計上並沒有做其他動作的考量，所以整個爬行移動的策略設計可說是從無到有。在硬體方面，我們使用直流馬達來驅動三節式機器人，並利用編碼器所取得的馬達位置與機器人底部傾斜器所取得的角度資訊，回傳至系統來得知機器人的動作狀況。其中我們採用模糊控制器控制重心與馬達的位置，使機器人能順暢的在不同地面傾斜度或摩擦力下成功爬行前進。 The field of researching in robots is very extensive. Our three-link robot is simple of hardware in structure, but many functions. We control the robot to crawl, stand-up and lie-down successfully. The robot was made by three links and two joints, every joint was controlled by one motor. Two classmates worked together to manufacture and control this robot. They have written two theses, i.e., the standing and crawling control of a three-link robot, respectively. This thesis emphasizes how a three-link robot keeps balance and stands on a slope. The system of robot got the angle of inclination between the bottom of robot and the horizontal, the encoder return the signal of positional motor, and the signal of encoder was sent to the chip of FPGA or PC, then sent the control signal to the motors to make the variety of action after evaluate action and control algorithms. If the floor is in the range of 7 degrees, the robot can detect states and adjust it’s posture automatically, make sure of action was perfect smoothly. In the structure of hardware, we use PC or FPGA, D/A, A/D and noise filter circuit to complete the system of control.
