- 學位論文
機器人主控制板暨仿生四足機器人之研究
The Research of Bionics Quadruped Robot With Control Board
摘要
本論文研究一以ARM-CORTEX-M系列微控制器為控制核心之機器人動態控制板。主要分為兩個部分，第一部分以CORTEX-M3核心實作多軸同步AI馬達驅動之主控制板；第二部分以主控制板為控制架構建構一四足機器人。其控制板分為僕模式之馬達控制器與作為連結與中控運算用途之中央控制器兩部分，以此多核心同步之方法將傳統控制板的通訊延遲以並列的方式降到四分之一以下，並以外部中斷的觸發方式取代傳統訊號中斷觸發的運作模式，利用外部中斷的高優先權特性，提高AI智能馬達的運作穩定度。為提升整體系統之運算效能及操作彈性，於控制板之中央控制核心使用USB通訊介面與個人電腦溝通，因此如需大量資料運算或圖控介面的呈現，也可以由電腦端實現，使電腦端可與馬達控制器互相分工。而四足機器人本體由不鏽鋼以及3D列印之材料為主要架構。為實作其載重與運送的功能其大小約為長90公分、寬45公分、高40公分，屬於中大型之仿生機器人，為的是能與其他系統互相結合，例如：四旋翼、自走車或是其他小型功能之機器人。
並列摘要
In the research, we see the ARM-CORTEX-M controller as the robot controller. In the first partition, trying to accomplish “multi-axis” synchronized motion controller with the series of ARM-CORTEX-M and in the second partition, based on the first part to make the quadruped robot come true would show up in the study. To conduct the signal to the MCU with the traditional method makes delay communication with parallel transmission lower below the value of 1/4 and use external interrupt to transmit instead of traditional one; besides , improve the stability of AI-Motor. For the sake of convenience, using USB operation to communicate between people and computers and remote control with GUI interface could be feasible. The main structure of the robot body that is stainless steel and 3D-material and the size of the length is 90cm, width is 45cm, height is 40cm. In this way, the bionic robot could combine with other systems, such as self-car, four-rotor and something smaller robots.