三節式機器人之爬行控制

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姓名

蔡明倫(Ming-Lung Tsai) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

三節式機器人之爬行控制
(Crawling control of a three-link robot)

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摘要(中)

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。

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)

★ 機器人
★ 模糊
★ 爬行

關鍵字(英)

★ fpga
★ crawl
★ fuzzy
★ robot

論文目次

摘要……………………………………………………………………I
圖目錄…………………………………………………………………V
表目錄………………………………………………………………VIII
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平台之系統構………………………………………………8
2.4 FPGA內部電路架構.……………………………………………11
第三章行動策略…………………………………………………14
3.1機器人動作描述 …………………………………………………14
3.2爬行行動策略……………………………………………………16
3.2.1 行動概念與重心計算 ………………………………………16
3.2.2往前拉爬行運動控制 …………………………………………21
3.2.3往前推爬行運動控制 …………………………………………25
3.3控制器的設計……………………………………………………27
3.3.1控制器的輸入和輸出…………………………………………27
3.3.2歸屬函數 ………………………………………………………28
3.3.3模糊規則庫……………………………………………………30
3.3.4模糊推論與解模糊化 …………………………………………31
第四章實驗結果…………………………………………………32
4.1 實驗設計描述……………………………………………………32
4.2 PC實驗結果………………………………………………………32
4.2.1實驗一：爬行於平面…………………………………………33
4.2.2實驗二：爬行於上坡2度與5度………………………………37
4.3以FPGA作簡單的實現……………………………………………41
4.3.1實驗一：爬行於平面…………………………………………42
4.3.2實驗二：爬行於下坡5度………………………………………44
4.3.3 實驗三：爬行於上坡5度……………………………………46
第五章結論…………………………………………………………49
5.1 困難處與解決方法………………………………………………49
5.2 未來改進方向……………………………………………………50
5.3 結論………………………………………………………………50
參考文獻………………………………………………………………52

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