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Fuzzy PD Control Design and C8051 Microcontroller Implementation for an Omni-Directional Four-Mecanum-Wheeled Robot
|關鍵字:||Mecanum輪全向式機器人;Mecanum-wheeled mobile robot;模糊PD控制;Simplex法;C8051微控制器實現;fuzzy PD control;simplex method;C8051 microcontroller implementation||出版社:||機械工程學系所||引用:|| Wikipedia, http://en.wikipedia.org/wiki/Unimate  JARA, http://www.jara-npo.org/  CTimes, http://www.ctimes.com.tw/default-tw.asp  Wikipedia, http://en.wikipedia.org/wiki/Mecanum_wheel  N. Tlale and M. de Villiers, "Kinematics and Dynamics Modelling of a Mecanum Wheeled Mobile Platform," in 15th Int. Conf. on Mechatronics and Machine Vision in Practice.(M2VIP). pp. 657-662, 2-4 Dec., 2008.  O. Diegel, A. Badve, G. Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-directional Robots," in Proc. Australasian Conf. on Robotics and Automation, Auckland, pp. 117-121, 2002.  H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Mitsumoto, and I. Endo, "Development of an Omni-directional Mobile Robot with 3 DOF Decoupling Drive Mechanism," in IEEE Int. Conf. on Robotics and Automation, Vol. 2, pp. 1925-1930, 21-27 May, 1995.  R. Balakrishna and A. Ghosal, "Modeling of Slip for Wheeled Mobile Robots," IEEE Trans. on Robotics and Automation, Vol. 11, No. 1, pp. 126-132, Feb. 1995.  J. Park, S. Kim, J. Kim, and S. Kim, "Driving Control of Mobile Robot with Mecanum Wheel Using Fuzzy Inference System," Int. Conf. on Control Automation and Systems (ICCAS), pp. 2519-2523, 27-30 Oct., 2010.  K. Nagatani, S. Tachibana, M. Sofne, and Y. Tanaka, "Improvement of Odometry for Omnidirectional Vehicle Using Optical Flow Information," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp. 468-473, 2000.  C.-C. Tsai, F.-C. Tai, and Y.-R. Lee, "Motion Controller Design and Embedded Realization for Mecanum Wheeled Omnidirectional Robots," 9th World Congress on Intelligent Control and Automation, pp. 546-551, 21-25 June, 2011.  莊仁豪, "全向式三輪機器人之動力學模式與適應控制設計," 國立中興大學機械工程學系碩士論文,2007.  陳陞佑, "使用主從微控制器之全向輪機器人實現, " 國立中興大學機械工程學系碩士論文,2010.  史皓尹, "全向四輪機器人之動力學建模與適應控制設計, " 國立中興大學機械工程學系碩士論文,2011.  陳柏維, " C8051F120高性能微控制器於多感測器量測系統與三軸全向輪機器人控制之應用, " 國立中興大學機械工程學系碩士論文,2011.  W. Spendley, G. R. Hext, and F. R. Himsworth, "Sequential Applicationof Simplex Designs in Optimization and Evolutionary Operation," Technometrics, Vol. 4, pp. 441-461, 1962.  J. A. Nelder and R. Mead, "A Simplex Method for Function Minimization," Computer Journal, vol. 7, pp. 308-313, 1965.  L. X. Wang, A Course in Fuzzy Systems and Control, Prentice Hall, 2005.  J. Xu and X. Fen, “Design of Adaptive Fuzzy PID Tuner Using Optimization Method,” Proc. 5th World Congress on Intelligent Control and Automation, pp. 2454–2458, China, 2004.  F. H. Ali and M. M. F. Algreer, “Fuzzy PID Control for Positioning Plants with Uncertain Parameters Variation,” Information and Communication Technologies ICTTA’06, Vol. 1, pp. 1428–1433, 2006.  L. X. Wang, A Course in Fuzzy Systems and Control, Prentice Hall, 2005.  J. Jantzen, "Design of Fuzzy Controllers," Technical Report, Department of Automatic Control, Lund Institute of Techology, Sweden, 2004.  Silicon Laboratories Inc., C8051F12x−F13x Mixed Signal ISP Flash MCU Family Data Sheets, Rev. 1.4, 2005.  PARALLAX Inc., LISY300 Gyroscope Module, V 1.0, 9/24/2009.  PARALLAX Inc., MMA7455-3axis AccelModule, V1.1, 9/24/2009.  Freescale Semiconductor Inc., ±2g/±4g/±8g Three Axis Low-g Digital Output Accelerometer, Rev. 5, 11/2008.  Analog Devices, AD7541A Data Sheet, 1997.  Hitachi, HA17458 Data Sheet, 1998.  CSBL900直流無刷伺服馬達驅動器使用說明書, CSIM擎翔實業有限公司.||摘要:||
In this thesis, an omni-directional wheeled robot with four Mecanum wheels is considered and fabricated. Based on the rolling and sliding constraints of the omni- directional wheels, the kinematics model of the robot is first derived, and then its complete dynamics model is derived using Lagrange’s equations. And an optimal independent-joint fuzzy PD controller is designed via the Simplex method to control the omni-directional four-Mecanum-wheeled robot that can track arbitrary desired trajectories. Computer simulations are presented to investigate the control performances. Finally, C8051F120 microcontroller-based mechatronic system is constructed to implement the suggested control law. The microcontroller is used to acquire the measurement signals of the accelerometer and gyroscope via SPI interface, and calculate the control torque commands. The signals are also transmitted to PC by UART interface for recording. The experimental results are presented for illustrating the control performance.
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