This research develops the robot system of two wheel drive. In the dynamic control of the robot, it will derive the wheel structure of the robot of kinetics constraint, and utilize Lagrange form to derive the dynamic equation in order to get nonholonomic dynamic equation of two-wheel robot. Following by using the coordinate changing to process state feedback control of dynamic equation. In the respect of realization, it includes the mechanism of the robot, image capture and processing, wireless communication, motion control etc. The designed robot of this research is based on the specification of medium-sized robot group of RoboCupSoccer. Without any foreign aid, the robot can operate independently under unknown environment. The feedback of the robot utilizes the omni-directional image, which makes the robot distinguish the environmental state that is in by oneself.
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