嵌入式系統在移動機器人上之應用

Applications of Embedded Systems on the Mobile Robots

李政昕(Cheng-Hsin Li)

指導教授 ： 林沛群

國立臺灣大學/工學院/機械工程學研究所/碩士(2010年)

https://doi.org/10.6342/NTU.2010.01714

摘要

移動機器人(Mobile robot)總體而言是一個複雜的高自由度運動系統，其運作需涵蓋如機械、機電、控制、與程式等許多領域來進行整合方能達成。本論文主要的目的是藉由相近的嵌入式系統架構，來快速設計規劃並建構出「輪腳複合式運動平台Quattroped」 和「雙輪移動平台」等兩個平台的基礎運動功能。
輪腳複合式運動平台的設計理念在於期望以單一的平台來達到多樣化且有效能的運動行為：在輪模式下的平台能有效率的在平面上移動，在腳模式下的平台則能穿越障礙地形。因此，在機電和程式的架構上就必須涵蓋各式行為模式的開發，如定位校正、輪腳變換、站立、輪驅動、腳步行、腳上下樓梯等。雙輪移動平台的設計理念在於測試輪式平台本身可達的機動性與速度性，並同時作為開發載具智慧化功能的基礎測試平台。因此，工作重點包含了平台移動、測程與定位、避障整合、和平衡功能實現等。實體測試則使用美商國家儀器（National Instruments）所推出的嵌入式系統CompactRIO 和sbRIO，以圖形化程式labVIEW 為軟體來進行編程，完成軟硬體整合及開發平台之運動行為。

關鍵字

嵌入式系統 ； 輪腳複合平台 ； 雙輪平台

並列摘要

Robot itself is a complicated system with high degree of freedom, it should integrate in areas such as mechanical, electrical, control and program. The main purpose of this thesis is to rapidly construct basic function of the two robots, hybrid platform and wheeled mobile platform, using almost the same embedded system.
In the hybrid platform, since we expect a single platform to achieve a variety of behaviors: wheel and leg, the design will include the use of motor to realize actions and the ideas about every action available. In wheeled mobile platform, the ultimate goal is to implement intelligent functions, the platform now will contain basic mobile functions, measurement of position, obstacle avoidance and balance function. We use the embedded system of National Instruments, CompactRIO and sbRIO, with graphical programming labVIEW to develop control systems.

並列關鍵字

embedded system ； hybrid platform ； two-wheeled platform

參考文獻

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