Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/7849
標題: 自主輪式服務機器人之移動平台的運動與動態控制
Kinematic and Dynamic Control of Some Wheeled Mobile Platforms for Autonomous Service Robots
作者: 王台有
Wang, Tai-Yu
關鍵字: Service Robots
服務機器人
Mobile Platforms
Dynamic Control
移動平台
動態控制
出版社: 電機工程學系所
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摘要: 近年來,由於機器人的非工業應用逐漸擴展,設計人與機器人之間的互動關係,加上導引功能等符合需求的智慧型服務機器人,便成為各方積極研究發展的重點。本論文的目的是發展自主輪式服務機器人之移動平台的運動與動態控制之非線性與適應控制器之設計方法與其實現技術。本文所採用服務型機器人之移動平台涵蓋兩輪差速驅動行走系統、動力輪椅兩輪差速驅動行走系統、三全方位輪驅動行走系統、四全方位輪驅動行走系統等受控系統,以設計運動與動態控制器追蹤設定值之非線性控制策略,用以確保控制性能,達到系統調整與軌跡追蹤的目的,而本論文所提出之設計法則,可提供移動機器人專業領域在理論與實際應用上之參考。
In recent years, the non-industry applications of robots have attracted much attention in both industry and academia. Hence, design of good interaction and between the human being and the robot and autonomous navigation to conform to the demand intelligent service robot have been prevalent topics for researchers in the robotics society in recent years. This dissertation aims to develop kinematic and dynamic controls of mobile platforms for autonomous service robots. The platforms under consideration cover two-wheeled differential-driving platforms, differential-driving power wheelchair with two omnidirectional caster wheels, three-wheeled omnidirectional mobile platforms, and four-wheeled omnidirectional mobile platforms. Several stable nonlinear control methods using backstepping are proposed to achieve regulation and trajectory tracking control of these mobile platforms. The effectiveness and merits of the proposed controllers are exemplified by conducting several computer simulations and experiments. The proposed techniques may provide useful theoretical and practical references for professionals working in the field of mobile robotics.
URI: http://hdl.handle.net/11455/7849
其他識別: U0005-0301200911122100
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-0301200911122100
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