DSP主控之四節機器人運動控制

廖培丞

doi:10.6846/TKU.2007.00598

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College of Engineering > Master's Program, Department of Mechanical and Electro-Mechanical Engineering
Engineering > Mechanical Engineering
Engineering > Electrical Engineering

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DSP主控之四節機器人運動控制

DSP Based Motion Control For Four-Link Robot

廖培丞 , Masters　　Advisor：楊智旭　　

繁體中文 DOI： 10.6846/TKU.2007.00598

四節機器人；模糊；類神經；質量重心； Four-Link Robot ； Fuzzy Control ； Artificial Neural Network (ANN) ； Center of Gravity(COG)

Abstract │ Reference (43) │ Times Cited (1) │ Altmetrics

Abstract 〈TOP〉

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The objective of this thesis is to develop and control a four-link robot. A DSP chip is used to control the motion of this robot. The four-link robot will stand up vertically and stably on the horizontal and inclined surface with unknown loading on one of the link. The robot will execute the planned motion by controlling the servo motor based on the unknown COG position.
     The robot is composed of three servo motors, four unequal-length links and a tilt sensor. There are three joints and four links in the robot structure. The length of this robot is symmetric with respect to the second joint. The outside links are short, and inside links are long. The tilt sensor is used to measure the inclination angle of the robot. The encoders are applied to measure rotational angles and velocities of motors. The DSP is the major controller of the system, which includes artificial neural network(ANN) algorithm, fuzzy control algorithm, motor control, A/D converter and signal process etc. The simulated results indicate that the four-links robot is able to stand up by itself on the horizontal and inclined surface with unknown loading on one of the link.

Reference ( 43 ) 〈TOP〉

[4] 林彥誠，彈性體連結之機器蛇的研發與其最佳速度之規劃，台灣大學生物產業機電工程學研究所碩士論文，民國93年6月。
連結：
[5] 李曉芳，彈性體連結之機器蛇的研發與其最佳避障路徑規劃，台灣大學生物產業機電工程學研究所碩士論文，民國93年6月。
連結：
[8] J. Morimoto and K. Doya , “ Acquisition of Stand-up Behavior by a Real Robot Using Hierarchical Reinforcement Learning, ” Robotics and Autonomous Systems, vol. 36, Issue: 1, pp. 37–51, 2001.
連結：
[13] 張昱升，四節機器人之研究，淡江大學機械與機電工程學系碩士班碩士論文，民國94年6月。
連結：
[14] 劉智原，四節機器人之控制器設計，淡江大學機械與機電工程學系碩士班碩士論文，民國96年1月。
連結：

Times Cited (1) 〈TOP〉

廖建偉(2010)。四節機器人之DSP控制系統設計。淡江大學機械與機電工程學系碩士班學位論文。2010。1-77。

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