結合機械手臂之多功能輪型機器人;The multi-function wheel robot with a robotic arm.

NCUIR > College of Electrical Engineering & Computer Science > Graduate Institute of Electrical Engineering > Electronic Thesis & Dissertation > Item 987654321/54524

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/54524

Title:	結合機械手臂之多功能輪型機器人;The multi-function wheel robot with a robotic arm.
Authors:	許哲瑋;Hsu,Che-wei
Contributors:	電機工程研究所
Keywords:	多感測器整合;模糊控制器;正向運動學;逆向運動學;自主避障;Inverse kinematics;Forward kinematics;Fuzzy controller;Sensors integration;Obstacle avoidance
Date:	2012-07-20
Issue Date:	2012-09-11 18:52:41 (UTC+8)
Publisher:	國立中央大學
Abstract:	本論文主要目的為完成具有於未知環境中自主避障功能，並利用裝置於機器人上方之機器手臂進行按鍵搭乘電梯功能之輪型機器人。在自主避障功能部份，透過由伺服馬達所推動之兩個平行輪進行移動，並利用FPGA整合超音波與紅外線距離感測器所感測的環境資訊，設計完善的避障策略與模糊控制器，使機器人能在未知環境中，即使於狹窄路徑中，安全前進並避開路徑中的障礙物。在按鍵搭乘電梯功能方面，透過正向運動學與逆向運動學，控制手臂按壓目標樓層的按鍵。同時機械手也提供簡單人機互動功能，如握手、招手。最後經過多次的實驗，本論文之控制策略與功能成功地實現於此輪型機器人上。The purpose of this study aims to accomplish a mobile robot which can take the elevator automatically by using its robotic arm and avoid the obstacle in an unknown environment. In the function of obstacle avoidance, the robot moves by two parallel wheels which are driven by servo motors. We use the sonar and infrared ray sensors integrated with FPGA to collect environmentalinformation such that the robot can move forward with avoiding the obstacles and maintaining the safe distance in the unknown environment, even in the narrow path. In the function of elevator taking automatically, the robotic arm can press the target panel by interactively using forward kinematics and inverse kinematics. Furthermore, this robotic arm can also implement some interactive motions such as shaking hands and greeting. After a series of experiments, the results show that the robot works effectively.
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

Files in This Item:

File	Description	Size	Format
index.html		0Kb	HTML	711	View/Open

社群 sharing

Loading...