設計一個基於PLCopen的可程式藍牙機器人控制器

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：116

、訪客IP：3.22.248.247

姓名

林益鍾(Yi-Chung Lin) 查詢紙本館藏

畢業系所

資訊工程學系在職專班

論文名稱

設計一個基於PLCopen的可程式藍牙機器人控制器
(Design of a Programmable Bluetooth Robot Controller Based on PLCopen)

相關論文

★ 整合GRAFCET虛擬機器的智慧型控制器開發平台	★ 分散式工業電子看板網路系統設計與實作
★ 設計與實作一個基於雙攝影機視覺系統的雙點觸控螢幕	★ 智慧型機器人的嵌入式計算平台
★ 一個即時移動物偵測與追蹤的嵌入式系統	★ 一個固態硬碟的多處理器架構與分散式控制演算法
★ 基於立體視覺手勢辨識的人機互動系統	★ 整合仿生智慧行為控制的機器人系統晶片設計
★ 嵌入式無線影像感測網路的設計與實作	★ 以雙核心處理器為基礎之車牌辨識系統
★ 基於立體視覺的連續三維手勢辨識	★ 微型、超低功耗無線感測網路控制器設計與硬體實作
★ 串流影像之即時人臉偵測、追蹤與辨識─嵌入式系統設計	★ 一個快速立體視覺系統的嵌入式硬體設計
★ 即時連續影像接合系統設計與實作	★ 基於雙核心平台的嵌入式步態辨識系統

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

[檢視]

[下載]

本電子論文使用權限為同意立即開放。
已達開放權限電子全文僅授權使用者為學術研究之目的，進行個人非營利性質之檢索、閱讀、列印。
請遵守中華民國著作權法之相關規定，切勿任意重製、散佈、改作、轉貼、播送，以免觸法。

摘要(中)

機器人科技在於科學與工程教育領域是一個重要的平台。現有的教育機器人平台常為了強調易用性而簡化許多系統架構和開發程序，導致教育型機器人的技術教育目標難以橋接至真實的工業機器人應用情境。由於工業機器人與教育型機器人開發目的性不同，因此其控制器的開發存在明顯差異性。本研究為拉近教育機器人以及工業機器人之間技術的結合度，致力於研發一個微型化的機器人控制器，結合機器人系統底層的感測和控制驅動軟體和符合工業標準的PLCopen中介軟體。我們針對感測器管理提供一套整合不同傳輸介面的嵌入式軟體函式庫，可提供開發者快速對感測器進行初始化以及驅動和通訊，開發者可在電腦平台藉由PLCopen編輯器以工業標準的圖形語言SFC進行機器人應用程式設計再透過藍牙傳輸至機器人控制器，執行機器人行為控制。最後我們以六軸機械手臂實驗來驗證此一藍牙機器人控制器。控制器可提供一個更貼近工業機器人應用情境的教育型機器人平台。

摘要(英)

Robotic technology is an important domain for science and engineering education platform. Since the educational robot is often been simplify on many system structure and developing programs in order to emphasize on its usability, it makes the goal of educational robot technology is difficult to connect to the actual application environment of industrial robot. In terms of the developing purpose is different between industrial and educational robot, there is distinct variant of the controller developing. The research purpose is devoting to develop a micro robotic controller, which can combine the sense of lower layer robotic system, control the software driver and in accordance with industrial standard PLCopen middleware software in order to increasing the connection level between educational and industrial robot. By providing an integrated transmission embedded software library for sensor control, the developer can drive and communicate based on speedy sensor initialization. Besides, the developer can program the robot through industrial standard graphic language SFC based on PLCopen editor, along with the Bluetooth transmission controller to perform the robot behavior control. The final verification is the experiment of six-axis robotic arm with the Bluetooth robotic controller. As a result, the controller can make the educational robot application environment closer to industrial robot.

關鍵字(中)

★ 可程式
★ 藍牙
★ 機器人
★ 控制器

關鍵字(英)

★ PLCopen
★ Robot Controller
★ Bluetooth

論文目次

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vi
表目錄 viii
第一章、緒論 1
1.1 研究背景與動機 1
1.2 研究目的 3
1.3 論文架構 4
第二章、相關技術回顧 5
2.1 藍牙(Bluetooth) 5
2.1.1 藍牙網路特性 5
2.1.2 藍牙傳輸通訊協定架構 6
2.1.3 藍牙資料傳輸型態 11
2.2 PLCopen 12
2.2.1 IEC 61131 13
2.2.2 IEC 61131-3 可程式控制器設計語言 14
2.3 嵌入式PLC 中介軟體 (Run-Time Engine) 16
2.3.1 嵌入式中介軟體 GRAFCET 17
2.3.2 XML 轉 Code 23
第三章、智慧型可程式藍牙控制器設計 25
3.1 系統架構 25
3.2 致動器管理模組 26
3.3 感測器管理模組 26
3.4 GPP解析模組 27
3.5 藍牙通訊模組 28
3.6 PLCopen GVM 29
第四章、系統整合實驗 36
4.1 實驗平台 36
4.1.1 嵌入式開發板 36
4.1.2 藍牙模組 36
4.1.3 直流伺服馬達 37
4.1.4 TTP224 四路電容式觸摸開關 39
4.1.5 九軸感測器模組 40
4.1.6 CAN Bus 收發器 40
4.2 開發軟韌體套件 40
4.3 系統實作與驗證 41
4.3.1 感測器管理模組驗證 41
4.3.2 系統整合驗證 45
第五章、結論 50
5.1 結論 50
5.2 未來方向 51
參考文獻 52

參考文獻

[1] M. Yerragolla, K. Pallela, and I. P. Gera, "Intelligent security system for residential and industrial automation," in 2016 IEEE Uttar Pradesh Section International Conference on Electrical, Computer and Electronics Engineering (UPCON), 2016, pp. 229-234.
[2] P. P. Merino, E. S. Ruiz, G. C. Fernandez, and M. C. Gil, "Robotic Educational Tool to engage students on Engineering," in 2016 IEEE Frontiers in Education Conference (FIE), 2016, pp. 1-4.
[3] C. Krofitsch, W. Lepuschitz, M. Klein, and G. Koppensteiner, "Flexible development environment for educational robotics," in 2015 International Conference on Control, Automation and Robotics, 2015, pp. 1-7.
[4] J. J. Gil, I. Diaz, X. Justo, and P. Ciäurriz, "Educational haptic controller based on Arduino platform," in 2014 XI Tecnologias Aplicadas a la Ensenanza de la Electronica (Technologies Applied to Electronics Teaching) (TAEE), 2014, pp. 1-7.
[5] K. Tsuruta and S. Sawada, "Development of servo controller using ARM32," in 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016, pp. 1-6.
[6] P. Ruberg, A. Guitar, and P. Ellervee, "Flexible controller for educational robot kit," in 2015 IEEE International Conference on Microelectronics Systems Education (MSE), 2015, pp. 17-20.
[7] R. Want, B. N. Schilit, and S. Jenson, "Enabling the internet of things," Computer, vol. 48, pp. 28-35, 2015.
[8] P. P. Merino, E. S. Ruiz, G. C. Fernandez, and M. C. Gil, "A Wireless robotic educational platform approach," in 2016 13th International Conference on Remote Engineering and Virtual Instrumentation (REV), 2016, pp. 145-152.
[9] A. F. Harris III, V. Khanna, G. Tuncay, R. Want, and R. Kravets, "Bluetooth Low Energy in Dense IoT Environments," IEEE Communications Magazine, vol. 54, pp. 30-36, 2016.
[10] L. Kumar, R. Jetley, and A. Sureka, "Source Code Metrics for Programmable Logic Controller (PLC) Ladder Diagram (LD) Visual Programming Language," in 2016 IEEE/ACM 7th International Workshop on Emerging Trends in Software Metrics (WETSoM), 2016, pp. 15-21.
[11] I. Z. Nikolic and V. Maksic, "Off-line programming of industrial robots by a personal computer," in 1995 Proceedings of the IEEE International Symposium on Industrial Electronics, 1995, pp. 677-682 vol.2.
[12] L. G. Garcia-Valdovinos, A. Velarde-Sanchez, R. Sosa-Cruz, and L. A. Garcia-Zarco, "Open software/hardware architecture for advanced force/position control of an industrial robot," in 2016 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC), 2016, pp. 1-6.
[13] 林似鋒, "一個基於 PLCopen 的嵌入式可程式邏輯控制器快速開發平台; A PLCopen-based Rapid Development Platform for Embedded Programmable Logic Controller," 國立中央大學, 2014.
[14] 卓卿安, "智慧聯網應用的即時嵌入式系統虛擬機器設計; Design of a Virtual Machine of Real-Time Embedded System for IoT Applications," 國立中央大學, 2013.
[15] R. Ramanathan, "The IEC 61131-3 programming languages features for industrial control systems," in 2014 World Automation Congress (WAC), 2014, pp. 598-603.

指導教授

陳慶瀚(Ching-Han Chen)

審核日期

2017-7-24

推文