現在位置首頁 > 博碩士論文 > 詳目
論文中文名稱:兩輪行動機器人運動控制之實現與應用 [以論文名稱查詢館藏系統]
論文英文名稱:Application and Implementation of the Motion Control for Two-Wheel Mobile Robots [以論文名稱查詢館藏系統]
院校名稱:臺北科技大學
學院名稱:機電學院
系所名稱:自動化科技研究所
畢業學年度:107
畢業學期:第一學期
出版年度:107
中文姓名:陳彥任
英文姓名:Yen-Jen Chen
研究生學號:104618505
學位類別:碩士
語文別:中文
口試日期:2018/10/17
論文頁數:四十八頁
指導教授中文名:蔡舜宏
口試委員中文名:蔡舜宏;黃國勝;陶金旺;蔣欣翰
中文關鍵詞:兩輪行動機器人運動控制機器人視覺機器手臂
英文關鍵詞:Two-Wheel Mobile RobotMotion ControlRobotic VisionRobotic Arm
論文中文摘要:本論文主要探討一具備視覺與機器手臂的兩輪行動機器人之開發與應用。由於機器 人本身只依靠兩顆獨立的直流馬達驅動,是一個不穩定的非線性欠致動系統,因此本論 文基於比例-微分控制策略實現兩輪行動機器人的運動控制方法設計。此外,為了使兩 輪行動機器人能夠提高物體識別與追蹤功能,我們也在機器人前方加裝無線網路攝影 機,將影像資訊傳至電腦進行影像處理。而在機器人手臂控制方面,提出一個控制器以 控制兩輪行動機器人的手臂移動以抓取物品。最後,我們利用一個實驗以驗證所開發之 兩輪行動機器人可以基於所得到的影像移動到目標附近並利用手臂捉取物體。
論文英文摘要:This thesis explores the implementation and application of a two-wheel mobile robot (TWMR) with vision and robotic arms. Since the robot is driven by two independent motors, it can be regarded as an unstable nonlinear actuated system. Therefore, a motion control law based on the proportional differential controller is proposed for the stabilization of TWMR. In addition, in order to achieve the recognition and tracking of the object, a wireless IP camera is installed on the TWMR to capture the image and transfer the captured image to computer for further image processing. For the control problem of robot arm, a controller is proposed to control the robot arm for fetching the object. Lastly, the experimental results show that the developed TWMR can move to the target position and drive the robot arm to fetch the object.
論文目次:中文摘要 i
英文摘要 ii
誌 謝 iii
目 錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 3
1.3 論文架構 5
第二章 系統架構說明 7
2.1 機器人硬體架構 7
2.1.1 Arduino開發板 8
2.1.2 姿態感測模組 9
2.1.3 藍芽模組 10
2.1.4 無線網路攝影機 11
2.1.5 直流伺服馬達 12
2.2 機器手臂 14
2.3 機器人視覺 16
2.4 電源管理 20
第三章 控制系統設計 21
3.1 機器人運動控制 21
3.1.1 角度控制器設計 22
3.1.2 位置控制器設計 23
3.1.3 方向控制器設計 25
3.2 機器手臂控制 27
3.3 機器人導引控制 30
3.3.1 距離導引控制器設計 32
3.3.2 方位導引控制器設計 34
第四章 實驗結果 36
4.1 移動與轉向場景測試 37
4.2 追蹤物品場景測試 39
4.3 取物場景測試 41
第五章 結論與未來展望 44
5.1 結論 44
5.2 未來展望 44
參考文獻 46
論文參考文獻:參考文獻

1. 科技大觀園. 機器人與智慧健康照護. [Online]. Available: https://scitechvista.nat.gov.tw/tag/DeH.htm
2. C. Zayane-Aissa, T. M. Laleg-Kirati, and A. Chemori, “Control of a perturbed under-actuated mechanical system,” Proceedings of the 2015 IEEE Conference on Control Applications, Sydney, Australia, 2015, pp. 294-299.
3. E. H. Binugroho1, D. Pratama, A. Z. R. Syahputra, and D. Pramadihanto, "Control for balancing line follower robot using discrete cascaded PID algorithm on ADROIT V1 education robot,” Proceedings of the 2015 International Electronics Symposium, Surabaya, Indonesia, 2015, pp. 245-250.
4. W. F. Kao, C. F. Hsu, and T. T. Lee, "Intelligent control for a dynamically stable two-wheel mobile manipulator," Proceedings of the Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, Otsu, Japan, 2017, pp. 1-6.
5. M. Muehlebach and R. D’Andrea, "Nonlinear analysis and control of a reaction-wheel-based 3D inverted pendulum," IEEE Transactions on Control Systems Technology, vol. 25, no. 1, Jan. 2017, pp. 235–246.
6. BostonDynamics. Introducing Handle. [Online]. Available: https://www.youtube.com/watch?v=-7xvqQeoA8c
7. R. J. Wai and Y. W. Lin, "Adaptive moving-target tracking control of a vision-based mobile robot via a dynamic Petri recurrent fuzzy neural network," IEEE Transactions on Fuzzy Systems, vol. 21, no. 4, Aug. 2013, pp. 688-701.
8. W. Ye, Z. Li, C. Yang, J. Sun, C. Y. Su, and R. Lu, "Vision-based human tracking control of a wheeled inverted pendulum robot," IEEE Transactions on Cybernetics, vol. 46, no. 11, Nov. 2016, pp. 2423-2434.
9. K. Máthé, L. Buşoniu, L. Barabás, C. Iuga, L. Miclea and J. Braband, "Vision-based control of a quadrotor for an object inspection scenario," Proceedings of the 2016 International Conference on Unmanned Aircraft Systems, VA, USA, 2016, pp. 849-857.
10. Z. Li, C. Yang, C. Y. Su, J. Deng, and W. Zhang, "Vision-based model predictive control for steering of a nonholonomic mobile robot," IEEE Transactions on Control Systems Technology, vol. 24, no. 2, March 2016, pp. 553-564.
11. H. Wang, D. Guo, X. Liang, W. Chen, G. Hu and K. K. Leang, "Adaptive vision-based leader-follower formation control of mobile robots," IEEE Transactions on Industrial Electronics, vol. 64, no. 4, April 2017, pp. 2893-2902.
12. M. Gupta, S. Kumar, L. Behera, and V. K. Subramanian, "A novel vision-based tracking algorithm for a human-following mobile robot," IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 47, no. 7, July 2017, pp. 1415-1427.
13. 维基百科. 賽格威. [Online]. Available: https://zh.wikipedia.org/wiki/%E8%B3%BD%E6%A0%BC%E5%A8%81
14. 小米商城. 九號平衡車. [Online]. Available: https://www.mi.com/scooter/
15. Y. S. Ha and S. Yuta, "Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot," Robotics and Autonomous Systems, vol. 17, no. 1, April, 1996, pp. 65-80.
16. F. Grasser, A. D‘Arrigo, S. Colombi and A. C. Rufer, "JOE: a mobile, inverted pendulum," IEEE Transactions on Industrial Electronics, vol. 49, no. 1, Feb. 2002, pp. 107-114.
17. K. Pathak, J. Franch and S. K. Agrawal, "Velocity and position control of a wheeled inverted pendulum by partial feedback linearization," IEEE Transactions on Robotics, vol. 21, no. 3, June 2005, pp. 505-513.
18. J. Wu, and W. Zhang, "Design of fuzzy logic controller for two-wheeled self-balancing robot," Proceedings of the 6th International Forum on Strategic Technology (IFOST), Harbin, China, 2011, pp. 1266-1270.
19. J. Huang, Z. H. Guan, T. Matsuno, T. Fukuda, and K. Sekiyama, "Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems," IEEE Transactions on Robotics, vol. 26, no. 4, Aug. 2010, pp. 750-758.
20. M. S. Key, C. G. Jeon, and D. S. Yoo, "Sliding mode control for a two-wheeled inverted pendulum mobile robot driving on uniform slopes," Proceedings of the 2012 International Conference on Control, Automation and Systems, JeJu Island, South Korea, 2012, pp. 2159-2162.
21. 李垂憲,兩輪自走車之設計與實現-以NIOS為核心之基本控制,碩士論文,國立中央大學電機工程所,桃園,2006。
22. 黃正豪,兩輪自走車之設計與實現-以NIOS為核心之行動控制,碩士論文,國立中央大學電機工程所,桃園,2006。
23. C. H. Huang, W. J. Wang, and C. H. Chiu, "Design and implementation of fuzzy control on a two-wheel inverted pendulum," IEEE Transactions on Industrial Electronics, vol. 58, no. 7, July 2011, pp. 2988-3001.
24. 蔡青航,電動兩輪車之系統設計與控制,碩士論文,國立中興大學電機工程所,臺中,2012。
25. C. C. Tsai, H. C. Huang, and S. C. Lin, "Adaptive neural network control of a self-balancing two-wheeled scooter," IEEE Transactions on Industrial Electronics, vol. 57, no. 4, April 2010, pp. 1420-1428.
26. Hitachi. EMIEW2. [Online]. Available: http://www.hitachi.com/rd/portal/highlight/robotics/emiew2_01/index.html
27. wowwee. mip robot. [Online]. Available: https://wowwee.com/mip
28. Arduino. Products. arduino-mega-2560. [Online]. Available: https://www.arduino.cc/
29. Arduino. Playground. MPU-6050. [Online]. Available: https://playground.arduino.cc/Main/MPU-6050
30. 超圖解ARDUINO 互動設計入門. HC-05與HC-06藍牙模組補充說明. [Online]. Available: https://swf.com.tw/?p=693
31. D-Link. Day Wi-Fi Camera with mydlink support. [Online]. Available: https://support.dlink.com/ProductInfo.aspx?m=DCS-930L
32. 國領微特電機. 直流減速電機. [Online]. Available: http://www.guolingmotor.com/Ch/Main.asp
33. 维基百科. 旋轉編碼器. [Online]. Available: https://zh.wikipedia.org/wiki/%E6%97%8B%E8%BD%89%E7%B7%A8%E7%A2%BC%E5%99%A8
34. 意法半導體. L298. [Online]. Available: http://www.st.com/en/motor-drivers/l298.html
35. 邁克兄弟科技股份有限公司. A1-16. [Online]. Available: http://www.smart-robot.com.tw/product_d.php?lang=tw&tb=1&id=553&cid=121
36. 新世代機器人暨人工智慧股份有限公司. 火流星. [Online]. Available: https://www.neweraai.com/tw_zh_tw/home
論文全文使用權限:不同意授權