Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6335
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] http://rezero.ethz.ch/project_en.html (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.
摘要: 
本論文的研究目的是針對使用三個無間隙全方位輪驅動之球型機器人,提出系統設計、動態模型建立與運動控制的技術與方法學。此球型機器人運動控制系統使用三全方位輪驅動一圓形球體的運動機構,採用傾斜儀、陀螺儀、加速度計以及對應到三馬達的編碼器為主要感測器,並使用一低耗損之數位訊號處理器當作主要的控制器。該系統之動態模型是首先推導三全方位輪驅動一圓形球體的動態方程式,接著運用拉格朗日運動力學與解耦方式推導球型機器人之兩解耦動態平衡方程式。為達成該運動平台之自平衡,姿態保持以及點對點運動,本文提出雙PD控制器來達到目標。透過電腦模擬和實驗結果可證實所建立的球型機器人運動控制系統具有滿意的控制性能。

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.
URI: http://hdl.handle.net/11455/6335
其他識別: U0005-1008201112240900
Appears in Collections:電機工程學系所

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