三節式機器人之站立控制

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姓名

廖俸慶(Feng-Ching Liao) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

三節式機器人之站立控制
(Standing control of a three-link robot)

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摘要(中)

本論文是製作一個類似毛毛蟲外型的三節式機器人，有二個關節各由一個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。本論文主要探討三節式機器人如何在不同的傾斜地面上保持平衡、站立。硬體方面，利用編碼器將位置訊號回授到控制系統，經由解碼後，以得到目前的馬達位置，另外在機器人的底部裝設傾斜器，以獲得目前的地面傾斜角度，使機器人能根據馬達位置和傾斜器角度而準確的計算出目前的重心 (Center of Gravity, COG) 位置。而在角度位置控制和平衡控制主要是使用模糊控制器，讓機器人能夠在不同摩擦力的地面上，皆能夠平穩順暢地站立成功。

摘要(英)

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.

關鍵字(中)

★ 站立
★ 模糊
★ 機器人

關鍵字(英)

★ fuzzy
★ robot
★ FPGA

論文目次

摘要-----------------------------------------------------I
圖目錄---------------------------------------------------V
表目錄---------------------------------------------------X
第一章緒論----------------------------------------------1
1.1 研究動機與目的---------------------------------------1
1.2 論文架構---------------------------------------------2
第二章系統架構------------------------------------------3
2.1 三節式機器人之硬體架構-------------------------------3
2.2 PC平台之系統架構-------------------------------------6
2.3 FPGA平台之系統架構-----------------------------------8
2.4 FPGA內部電路架構------------------------------------11
第三章行動策略-----------------------------------------15
3.1 動作描述--------------------------------------------15
3.2 站立行動策略----------------------------------------16
3.2.1 躬起控制------------------------------------------18
3.2.2 平衡控制------------------------------------------19
3.3 控制器的設計----------------------------------------21
3.3.1 控制器的輸入和輸出--------------------------------21
3.3.2 歸屬函數------------------------------------------23
3.3.3 模糊規則庫----------------------------------------24
3.3.4 模糊推論與解模糊化--------------------------------26
第四章實驗結果-----------------------------------------27
4.1 實驗設計描述----------------------------------------27
4.2 PC平台之實驗結果------------------------------------27
4.2.1 實驗一：站立於平面--------------------------------28
4.2.2 實驗二：站立於正的傾斜地面------------------------30
4.2.3 實驗三：站立於負的傾斜地面------------------------34
4.3 FPGA平台之實驗結果----------------------------------37
4.3.1 實驗一：站立於平面--------------------------------38
4.3.2 實驗二：站立於正的傾斜地面------------------------40
4.3.3 實驗三：站立於負的傾斜地面------------------------43
第五章結論---------------------------------------------48
5.1 困難處與解決方法------------------------------------48
5.2 未來改進方向----------------------------------------49
5.3 結論------------------------------------------------49
參考文獻------------------------------------------------51

參考文獻

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指導教授

王文俊(Wen-June Wang)

審核日期

2003-6-17

推文