全方位移動式平衡機器人設計與實作

Design and Implementation of An Omnidirectional Balancing Mobile Robot

林子羣(Tzu-Chun Lin)

指導教授 ： 許駿飛

淡江大學/工學院/電機工程學系碩士班/碩士(2021年)

https://doi.org/10.6846/TKU.2021.00609

摘要

本論文設計了一台全方位移動式平衡機器人，以機器人設計將其分為移動平台與手臂平台兩大部份，移動平台是將四顆麥克納姆輪以共線式排列在底盤下方，這樣獨特的設計方式可以使機器人具備全方位移動能力及動態平衡的能力，另外，手臂平台設計提供讓機器人可以執行夾取與運送物品等任務的能力，共使用了四顆A1-16智慧型伺服馬達，並且安裝於機器人上方位置。在控制器設計方面，本論文結合PID控制與多迴路回授控制架構提出速度運動控制系統，透過遙控或使用者設定，來控制機器人移動速度，同時在移動過程中可以持續地保持平衡。接著，因為機器手臂的姿態改變，對於機器人移動與平衡有非常大的干擾，因此本論文利用模糊控制設計重心控制器來改善速度運動控制系統，以降低機器手臂產生的力矩對機器人平衡造成影響。接著，提出具軌跡規劃之位置控制系統，其中軌跡規劃運用了多項式軌跡規劃演算法，解決位置軌跡的不連續性問題，避免產生過大的加速度行為造成機器人翻覆。最後，本論文使用STM32F103微控制器搭配一些周邊電路模組與感測器模組，實際硬體實現所提出之數種控制法則，並將實驗數據透過藍芽模組傳送至電腦端，將數據圖形化以方便觀察。經由實際實驗結果顯示，本論文所提出設計之方位移動式平衡機器人具備不錯的自平衡控制效果及全方位移動能力。

關鍵字

平衡控制 ； 模糊控制 ； 移動機器人 ； 全方位移動 ； 微控制器技術

並列摘要

This thesis aims to design an omnidirectional balancing mobile robot, which consists of two main parts: the mobile platform and the manipulator. The mobile platform utilizes a collinear arrangement of four Mecanum wheels under the chassis so that the robot can have omnidirectional movement and dynamic balance abilities, and the manipulator is equipped with four A1-16 servo motors in the upper position of the robot to pick up and transport items. For the controller design, a speed motion control system is proposed via multi-loop feedback control approach so that the velocity of the robot can be set up either by remote control or user’s commands. It should be emphasized that the controller not only can control the robot movement but also can keep the robot balanced. In addition, the robot’s center of gravity will be changed when the manipulator posture changes. This will affect the robot’s movement and balance responses. To reduce the impact of the change of the center of gravity on the robot, this thesis proposes a gravity compensator based on the fuzzy control approach. Then, a position motion control system with polynomial trajectory planning algorithm is proposed, which allows the robot to move more smoothly and avoids the occurrence of robot overturning. Finally, the STM32F103 microcontroller with a posture sensor is applied to implement the proposed control system. The experimental results show that the proposed omnidirectional balancing mobile robot can achieve has good self-balancing control response and omnidirectional mobility.

並列關鍵字

mobile robot ； self-balancing robot ； balance control ； omni-directional movement ； microcontroller technology

參考文獻

[1]林其禹、郭重顯、邱士軒、李敏凡、范欽雄、林柏慎，智慧型機器人原理與應用，新北市：高立圖書，2013。

[2]Grenzebach,“Grenzebach_Datasheet_Mobile_Robot_MR10S_en,”

Available:https://www.chenlux.com/wp-content/uploads/Grenzebach_Datasheet_Mobile_Robot_MR10S_en.pdf

[3]H. Huang and C. Tsai, "FPGA Implementation of an Embedded Robust Adaptive Controller for Autonomous Omnidirectional Mobile Platform," IEEE Transactions on Industrial Electronics, vol. 56, no. 5, pp. 1604-1616, May 2009.

[4]C. Tsai, H. Huang and S. Lin, "FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment," IEEE Transactions on Industrial Electronics, vol. 58, no. 3, pp. 1016-1026, March 2011.