可側傾雙輪機器人之運動控制與其內部機器人泛用機電系統架構

本論文主要以中小型移動機器人開發為起頭，以 National Instrument 的即時控制核心為主，開發機器人所需的通用週邊電路，以搭配獨立的電源轉換為驅動中小型機器人的所需電源，配合上常見的直流馬達驅動板和其餘主要週邊電路來達成完全自主的移動，並應用於各式機器人上驗證其可用性。在經過測試後進行簡化與教育用品化的改板。同時與常見的輪型機器人作結合，針對雙輪自主平衡機器人作主要的研究，藉由動態模型的推導設計出可以穩定行走的控制法則，並針對輪型平衡的雙輪機器人，推導在雙輪平衡狀態下增加傾斜自由度的動態影響。而為了可以達到良好的回授效果，使用卡爾曼濾波器進行陀螺儀與傾斜儀的訊號融合進行身體角度的狀態估測。最後將所設計通用機器人機電系統用於雙輪可傾式機器人上，驗證前面所推導的動態模型，使用狀態估測器作回授所得到的控制效果。最後總結所有的研究成果，分析達成的目標以及未來可以改進以及深入探究的方向。

關鍵字

機器人通用機電系統；教育用品；可側傾雙輪機器人；動態模型；卡爾曼濾波器

並列摘要

In this thesis, we develop a general mechatronic system for mobile robot, based on National Instrument real-timed control core. The generalized infrastructure of robotic mechatronics consists chiefly of three parts, power board, breakout board and DC motor driver board. It's able to achieve complete independent moving by independent power supply. We verify its feasibility by applying it to different type robot, and revise it to a teaching aids version. Meanwhile, we use the general mechatronic system on a tiltable two-wheeled mobile robot. By studying the dynamic model of the tiltable 2-wheeled robot, we design a simple control law to keep it on balance moving. Besides, we find the relation between moving and tilt degree of freedom. Better feedback signals for balance moving is estimated by fusing the signal of gyroscope and inclinometer with Kalman filter. We find out a way for stable turning mode by changing the tilt angle from experiment. Finally, some suggestion about how to improve the model of the tilt DOF and balancing ability is discussed.