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。;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.
