Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6335
DC FieldValueLanguage
dc.contributor黃國勝zh_TW
dc.contributor莊家峯zh_TW
dc.contributor.advisor蔡清池zh_TW
dc.contributor.author詹翔竣zh_TW
dc.contributor.authorChan, Hsiang -Chunen_US
dc.contributor.other中興大學zh_TW
dc.date2012zh_TW
dc.date.accessioned2014-06-06T06:37:54Z-
dc.date.available2014-06-06T06:37:54Z-
dc.identifierU0005-1008201112240900zh_TW
dc.identifier.citationReferences [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.zh_TW
dc.identifier.urihttp://hdl.handle.net/11455/6335-
dc.description.abstract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。zh_TW
dc.description.abstractThe 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.en_US
dc.description.tableofcontentsContents 誌 謝 詞 i 中文摘要 ii Abstract iii Contents iv List of Figures vii List of Tables xi Nomenclature xii List of Acronyms xiv Chapter 1 Introduction 1 1.1 Introduction 1 1.2 Literature Review 4 1.2.1 Related Work for Modeling and Control of Ballbots Driven by Two or Four Motors 4 1.2.2 Related Work for Modeling and Control of Ball Robots Driven by Three Omnidirectional Wheels 5 1.3 Motivation and Objectives 5 1.4 Main Contributions 6 1.5 Thesis Organization 6 Chapter 2 Mechatronic System Design and Control Structure 7 2.1 Introduction 7 2.2 System Structure and Mechatronic Design 7 2.2.1 Description of the Ball Robot System 7 2.2.2 Omnidirectional Wheel Design 9 2.2.3 DC Servomotor Drive 12 2.2.4 Motor 14 2.3 Description of Key Components: Controller and Sensors 15 2.3.1 Dual-axis Tilt sensor 15 2.3.2 Dual-Axis Gyroscope 18 2.3.3 Accelerometer 20 2.3.4 Rotary Encoder 22 2.3.5 Power Supply System 23 2.3.6 Digital Signal Processor 25 2.3.7 Signal Flow 29 2.4 Control Architecture 30 2.5 Concluding Remarks 30 Chapter 3 Dynamic Modeling 32 3.1 Introduction 32 3.2 Kinematic and Dynamic Models of the Inverse Atlas Spherical Motion Platform 33 3.3 Dynamic Modeling of the Two-Dimensional Mobile Inverted Pendulum 37 3.3.1 Vehicle Dynamics in the Median Sagittal plane 38 3.3.2 Vehicle Dynamics in the Median Coronal plane 40 3.4 Parameters Determination 42 3.5 Concluding Remarks 43 Chapter 4 Self-Balancing and Position Control Using Double PD Controller 44 4.1 Introduction 44 4.2 Linearized Models in the Median Sagittal and Coronal Planes 45 4.2.1 Linearized Model in the Median Sagittal Plane 45 4.2.2 Linearized Model in the Median Coronal Plane 45 4.3 Proposed Double PD Control Laws 46 4.3.1 Proposed Double PD Control in the Median Sagittal Plane 46 4.3.2 Proposed Double PD control in the Median Coronal Plane 48 4.4 Double PD controller Design Using Linear Quadratic Regulator Approach 49 4.5 Simulations and Discussion 51 4.5.1 Balancing and Station Keeping 53 4.5.2 Point-To-Point Stabilization 59 4.5.3 Straight-Line Path-Following 63 4.6 Experimental Results and Discussion 66 4.7 Concluding Remarks 71 Chapter 5 Conclusions and Future Work 72 5.1 Conclusions 72 5.2 Future Work 73 References 75zh_TW
dc.language.isoen_USzh_TW
dc.publisher電機工程學系所zh_TW
dc.relation.urihttp://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-1008201112240900en_US
dc.subjectOmnidirectional Wheelen_US
dc.subject全方位輪zh_TW
dc.subjectBall Roboten_US
dc.subjectModelingen_US
dc.subject球型機器人zh_TW
dc.subject建模zh_TW
dc.title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zh_TW
dc.titleSystem Design, Modeling and Control of a Ball Robot Driven by Three Omnidirectional Wheelsen_US
dc.typeThesis and Dissertationzh_TW
item.languageiso639-1en_US-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.openairetypeThesis and Dissertation-
item.fulltextno fulltext-
item.grantfulltextnone-
Appears in Collections:電機工程學系所
Show simple item record
 

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.