Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6966
標題: 四馬達逆向滑鼠驅動球型機器人之系統設計與運動控制
System Design and Motion Control of a Ball Robot with a Four-Motor Inverse-Mouse Drive
作者: 李國銘
Li, Guo-Ming
關鍵字: double PD controller;雙PD控制器;ball robot;inverse mouse-ball driving mechanism;球型機器人;逆滑鼠驅動機構
出版社: 電機工程學系所
引用: [1] T. B. Lauwers, G. A. Kantor, and R. L. Hollis, “A dynamical stable single-wheeled mobile robot with inverse mouse-ball drive,” in Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA, pp. 2884-2889, 2006. [2] 莊明翰,球型機器人之系統設計與運動控制,國立中興大學電機工程研究所碩士論文,2009年7月。 [3] 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,” in Proceedings of SICE 2008, Tokyo, Japan, pp. 2951-2955, 2008. [4] http://www.rezero.ethz.ch/ [5] R. Hollis, “Ballbots,” Scientific American Magazine, pp. 72-77, Oct. 2006. [6] 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. [7] C. M. Lin and 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. [8] W. 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. [9] 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. [10] 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. [11] J. H. Williams, Jr., Fundamentals of Applied Dynamics. John Wiley & Sons Inc. 1996.
摘要: 
本論文的目的是針對使用四馬達逆向滑鼠驅動機構之球型機器人,提出完成系統設計、動態模型建立與控制的技術與方法學。含有動、靜摩擦的兩解耦動態模型是藉由拉格朗日運動力學來建立。根據所發展的兩解耦動態模型,本文提出兩個雙PD控制法則,使機器人可以達到自平衡,原地停留與位置控制。另外,一倒逆步滑動模式運動控制器被提出,用以達成軌跡追蹤。數個電腦模擬可證實所提的雙PD運動控制器具有滿意的控制性能,達成自平衡、原地停留與位置控制,而倒逆步滑動模式運動控制器不僅完成自平衡、原地停留與位置控制,而且可達成軌跡追蹤。

This thesis presents methodologies and techniques for system design, dynamic modeling and motion control of a ball robot with an inverse mouse-ball driving mechanism actuated by four independent brushless motors simultaneously. By using Lagrangian mechanics, two decoupled dynamic models of the robot incorporating with viscous and static frictions are established in both the median sagital and coronal planes. With the decoupled models, two double PD controllers are proposed to achieve self-balancing and point stabilization (regulation) of the robot. A backstepping sliding-mode controller is synthesized to accomplish out trajectory tracking of the ball robot. Simulation results indicate that proposed PD motion controllers is capable of providing appropriate control actions to satisfactorily achieve self-balancing, station keeping and position control, and the proposed backstepping sliding-mode controller is good to accomplish out not only self-balancing, station keeping and position control, but also trajectory tracking.
URI: http://hdl.handle.net/11455/6966
其他識別: U0005-2108201123073600
Appears in Collections:電機工程學系所

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