教育型機器人之構設計與控制

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Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/61158

Title:	教育型機器人之構設計與控制
Authors:	林濰;Lin,Wei
Contributors:	電機工程學系
Keywords:	教育型機器人;機器頭;機械手臂;模糊控制器;運動學;Educational robot;Robotic head;Robotic arm;Fuzzy controller;Kinematics
Date:	2013-07-15
Issue Date:	2013-08-22 12:13:30 (UTC+8)
Publisher:	國立中央大學
Abstract:	本論文以低成本的材料與零件設計製作一個互動型教育機器人。此機器人由機器頭與機械手臂兩個部分組成，在機器頭的機構上，由伺服馬達、伺服機及連桿式結構控制臉部表情的可動點，如眼皮、頸部、眼睛、眉毛與嘴巴，讓機器人臉部產生表情。在機械手臂機構上，利用輕量化壓克力框架製作六軸機械手臂。並透過逆向運動學與控制策略控制機械手臂。此機器人配合[1]完成互動與教育的功能，其功能包含：一、英文與數學的教學，由[1]辨識圖卡與數學符號，接著利用逆向運動學控制機器手臂拿取方塊排列出正確答案。二、模仿上肢與臉部動作，[1]提供使用者臉部表情與上肢動作的資訊，控制機器人的臉部與手臂模仿使用者。三、追蹤及碰觸色球，[1]辨識出色球的移動方向，透過模糊控制器設計，持續修正頸部二軸馬達角度讓頭部面向並追蹤色球，當色球停止移動時，控制機器手臂碰觸色球。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教育型機器人上。 The purpose of this study aims to design an interactive educational robot with low-cost materials and parts. This robot is composed of two mechanisms. One is robotic head, and the other is robotic arm. To execute facial expression, the servo motors and servos are combined with the linkage structure for robotic head to control the movement point. The movement points are eyelid, neck, eye, eyebrow, and mouth. Subsequently, the robotic arm with 6 degree of freedom constructed by the acrylic frame is controlled by using the inverse kinematics and motion strategy. This robot is capable of implementing the interactive and educational functions by cooperating with [1]. These functions are (1) English and math teaching, (2) the upper posture and facial expression imitation, and (3) color balls tracking and touching. Firstly, the robot can identify the pictures and math further control the robotic arm to array the right answer by inverse kinematics. Secondly, the robot can imitate the humans’ upper posture and facial expression by controlling the robotic head and arms. Finally, the robot can identify the color movement direction and adjust the motors installed in the neck by designing the fuzzy controller to continuously track the color ball. When the color ball stops, the robotic arm will touch the ball. After a series of experiments, the results show the robot to accomplish the three functions effectively.
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

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