四節機器人之控制器設計

劉志原

doi:10.6846/TKU.2007.00959

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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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四節機器人之控制器設計

Controller Design of the Four-link Robot

劉志原 , Masters　　Advisor：楊智旭　　

繁體中文 DOI： 10.6846/TKU.2007.00959

類神經網路；重心法；四節機器人；模糊控制； Artificial Neural Network (ANN) ； Center of Gravity (COG) ； Four-link Robot ； Fuzzy Control

Abstract │ Reference (33) │ Times Cited (2) │ Altmetrics

Abstract 〈TOP〉

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The objective of this thesis is to develop a four-link robot to stand up vertically and stably with an unknown loading on a linkage. There are three joints and four links in the robot system. The outside links are long, and inside links are short. The joints are driven by three DC server motors respectively.The sequence of the standing behaviors is assigned by the designed program in a PC. The artificial neural network (ANN) and fuzzy theory are applied to design the controller for the robot. The hardware of this system includes mechanism, DC server motors, a tilt sensor, digital signal process (DSP) board, and motor drivers. The center of gravity (COG) of the robot is an important factor in the standing process. The robot is trained to stand up by angles and angular velocity of motors by using the ANN algorithm. Then, the COG of the robot is controlled to stand up vertically and stably by the fuzzy control theory. The simulational and experimental results indicate that the four-link robot is able to stand up by itself with an unknown loading.

Reference ( 33 ) 〈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：
[18] L. A. Zadeh, ”Fuzzy sets,” Information Control, Vol.8, pp.338-353, 1965.
連結：

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