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標題: 使用三全方位輪驅動之球型機器人之系統設計、建模與控制
System Design, Modeling and Control of a Ball Robot Driven by Three Omnidirectional Wheels
作者: 詹翔竣
Chan, Hsiang -Chun
關鍵字: Omnidirectional Wheel;全方位輪;Ball Robot;Modeling;球型機器人;建模
出版社: 電機工程學系所
引用: References [1] T. B. Lauwers, G. A. Kantor, and R. L. Hollis, “A Dynamical Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA, pp. 2884-2889, 2006. [2] M. Kumagai, T. Ochiai, “Development of a Robot Balancing on a Ball” in Proc. IEEE Int. Conf. Contr. Autom. And Systems, pp. 433-438, 2008. [3] M. Kumagai and T. Ochiai, “Development of a Robot Balancing on a Ball- Application of passive motion transportation,” in Proc. IEEE Int. Conf. Robot. And Autom., pp. 4106-4111, 2009. [4] (2011-07) [5] C. W. Liao, C. C. Tsai, Y. Y. Li, C. K. Chan, “Dynamic Modeling and Sliding-Mode Control of a Ball Robot with Inverse Mouse-Ball Drive,” Proceedings of SICE 2008, Tokyo, Japan, pp. 2951-2955, 2008. [6] R. Hollis, “Ballbots,” Scientific American Magazine, pp. 72-77, Oct. 2006. [7] J. C. Lo and Y. H. Kuo, “Decoupled fuzzy sliding-mode control,” IEEE Transactions on Fuzzy Systems, vol. 6, no. 3, pp. 426-435, 1998. [8] C. M. Lin, Y. J. Mon, “Decoupling Control by Hierarchical Fuzzy Sliding-Mode Controller,” IEEE Transactions on Control Systems Technology, vol. 13, no. 4, pp. 593-598, 2005. [9] Wang, X.D. Liu, and J.Q. Yi, “Structure Design of Two Types of Sliding-Mode Controllers for a Class of Under-Actuated Mechanical Systems,” IET Proceeding of Control Theory and Applications, vol. 1, no. 1, pp. 163-172, 2007. [10] U. Nagarajan and A. Mampetta, G. A. Kantor and R. L. Hollis, “State Transition, Balancing, Station Keeping, and Yaw Control for a Dynamically Stable Single Spherical Wheel Mobile Robot” in Proc.IEEE Int. Conf. Robot. And Autom., pp. 998-1003, 2009. [11] U. Nagarajan, G. A. Kantor and R. L. Hollis, “Trajectory Planning and Control of an Underactuated Dynamically Stable Single Spherical Wheeled Mobile Robot” in Proc. IEEE Int. Conf. Robot. And Autom., pp. 3743-3748, 2009. [12] A. Weiss, R. G. Langlois, and M. J. D. Hayes, “The Effects of Dual Row Omnidirectional Wheels on the Kinematics of the Atlas Spherical Motion Platform,” Mechanism and Machine Theory, vol. 44, pp. 349-358, 2009. [13] D. Tlalolini, C. Chevallereau, and Y. Aoustin, “Comparison of different gaits with rotation of the feet for a planar biped,” Robotics and Autonomous Systems, vol. 51, pp. 81-99, 2005.

The thesis presents techniques and design methodologies for system design, modeling and control of a ball-riding robot driven by three omnidirectional wheels. The proposed ball robot is designed and implemented using three omnidirectional wheels driving a ball, and employing one tilt sensor, one rate gyro, one accelerometer and three encoders, and a low-cost digital signal processor as a main controller. With the designed structure, a completely dynamic model of the robot moving on a flat terrain is derived using Lagrangian mechanics. Two double PD controllers are synthesized to achieve self-balancing, station keeping and point stabilization. Through computer simulations and experimental results, the proposed controllers together with the built ball robot system are successfully shown to give a satisfactory control performance.
其他識別: U0005-1008201112240900
Appears in Collections:電機工程學系所

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