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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林沛群(Pei-Chun Lin) | |
| dc.contributor.author | Cheng-Hsin Li | en |
| dc.contributor.author | 李政昕 | zh_TW |
| dc.date.accessioned | 2021-05-20T21:34:43Z | - |
| dc.date.available | 2012-08-18 | |
| dc.date.available | 2021-05-20T21:34:43Z | - |
| dc.date.copyright | 2010-08-18 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-08-16 | |
| dc.identifier.citation | [1] 嵌入式系統開發導論. Available: http://www.jollen.org/blog/2006/09/_run_pc_8.html
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Takemura, et al., 'Slip-adaptive walk of quadruped robot,' Robotics and Autonomous Systems, vol. 53, pp. 124-141, 2005. [9] I. Poulakakis, et al., 'Experimentally Validated Bounding Models for the Scout II Quadrupedal Robot,' presented at the ICRA, International Conference on Robotics and Automation. IEEE., 2004. [10] J. A. Smith, 'Galloping, Bounding and Wheeled-Leg Modes of Locomotion on Underactuated Quadrupedal Robots,' Doctor of Philosophy, Mechanical Engineering, McGill University, Montreal, Canada, 2006. [11] J. A. Smith, et al., 'Bounding with Active Wheels and Liftoff Angle Velocity Adjustment,' IJRR, The International Journal of Robotics Research, vol. 0, p. 0278364909336807v1, 2009. [12] T. TANAKA and S. HIROSE, 'Development of Leg-wheel Hybrid Quadruped ”AirHopper”Design of Powerful Light-weight Leg With Wheel,' presented at the IROS, International Conference on Intelligent Robots and Systems. IEEE/RSJ., 2008. [13] S. Guccione and G. Muscato, 'The wheeleg robot,' Robotics & Automation Magazine, IEEE, vol. 10, pp. 33-43, 2003. [14] S. Guangming, et al., 'A surveillance robot with hopping capabilities for home security,' Consumer Electronics, IEEE Transactions on, vol. 55, pp. 2034-2039, 2009. [15] M. Lauria, et al., 'Kinematical Analysis of a Four Steered Wheeled Mobile Robot,' in Industrial Electronics, 2006 IEEE International Symposium on, 2006, pp. 3090-3095. [16] L. Pei-Chun, et al., 'Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits,' Robotics, IEEE Transactions on, vol. 22, pp. 932-943, 2006. [17] Y.-S. H. a. S. Yuta, 'Trajectory Tracking Control for Navigation of Self-contained Mobile Inverse Pendulum,' presented at the IEEE/RSJ/GI Int. Conf. On Advanced Robotic Systems and the Real World, 1994. [18] A. D. A. Felix Grasser, Silvio Colombi, Member, IEEE, and Alfred C. Rufer, Senior Member, IEEE, 'JOE: A Mobile, Inverted Pendulum,' IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,, vol. vol. 49, 2002. [19] Segway. Available: http://www.segway.com/ [20] Segway PT - Wikipedia, the free encyclopedia. Available: http://en.wikipedia.org/wiki/Segway_PT [21] J. B. Morrell and D. Field, 'Design of a closed loop controller for a two wheeled balancing transporter,' in Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, 2007, pp. 4059-4064. [22] M. N. A. S. W. Nawawi, and J. H. S. Osman, 'Real-Time Control of a Two-Wheeled Inverted Pendulum Mobile Robot,' World Academy of Science, Engineering and Technology, vol. 39, 2008. [23] nBot Balancing Robot. Available: http://www.geology.smu.edu/~dpa-www/robo/nbot/ [24] S. L. Vivien C., 'Hardware Integration of a Mobile Two-Wheel Balancing Platform for Autonomous Applications,' The UoA Undergraduate Mechatronics Research Journal vol. 1, 2008. [25] L. Shui-Chun, et al., 'Adaptive Neural Network Control of a Self-balancing Two-wheeled Scooter,' in Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE, 2007, pp. 868-873. [26] T. J. Ren, et al., 'Motion control for a two-wheeled vehicle using a self-tuning PID controller,' Control Engineering Practice, vol. 16, pp. 365-375, 2008. [27] LEGO NXT 雙輪自走車. Available: http://www.techbricks.nl/My-NXT-projects/nxt-self-balancing-segway-nxtway-robot.html [28] R. I. Toshinobu Takei, and Shin’ichi Yuta, Fellow, IEEE, 'Baggage Transportation and Navigation by a Wheeled Inverted Pendulum Mobile Robot,' IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,, vol. VOL. 56, 2009. [29] B. T. P. Deegan, and R. Grupen, 'Designing a Self-Stabilizing Robot For Dynamic Mobile Manipulation,' Robotics: Science and Systems-Workshop on Manipulation for Human Environments, 2006. [30] Segway RMP Available: http://www.spawar.navy.mil/robots/land/SegwayRMP/SegwayRMP.html [31] C.-H. L. Shuan-Yu Shen, Chih-Chung Cheng, Jau-Ching Lu, Shao-Fan Wang, and Pei-Chun Lin, 'Design of a Leg-Wheel Hybrid Mobile Platform,' presented at the IROS, International Conference on Intelligent Robots and Systems. IEEE/RSJ, 2009. [32] PID Controller Simplified. Available: http://radhesh.wordpress.com/2008/05/11/pid-controller-simplified/ [33] DC Motor Control. Available: http://robotics.ee.uwa.edu.au/courses/embedded/tutorials/tutorials/tutorial_6/Tutorial_6.htm [34] Hitec. Available: http://www.hobbyhorse.com/hitec_hs85mg.shtml [35] I. R. N. Roland Siegwart, 'Introduction to Autonomous Mobile Robots ', ed, 2004, p. P186~188. [36] Y. Yamamoto. NXTway-GS Model-Based Design-Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT -. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10503 | - |
| dc.description.abstract | 移動機器人(Mobile robot)總體而言是一個複雜的高自由度運動系統，其運作需涵蓋如機械、機電、控制、與程式等許多領域來進行整合方能達成。本論文主要的目的是藉由相近的嵌入式系統架構，來快速設計規劃並建構出「輪腳複合式運動平台Quattroped」 和「雙輪移動平台」等兩個平台的基礎運動功能。
輪腳複合式運動平台的設計理念在於期望以單一的平台來達到多樣化且有效能的運動行為：在輪模式下的平台能有效率的在平面上移動，在腳模式下的平台則能穿越障礙地形。因此，在機電和程式的架構上就必須涵蓋各式行為模式的開發，如定位校正、輪腳變換、站立、輪驅動、腳步行、腳上下樓梯等。雙輪移動平台的設計理念在於測試輪式平台本身可達的機動性與速度性，並同時作為開發載具智慧化功能的基礎測試平台。因此，工作重點包含了平台移動、測程與定位、避障整合、和平衡功能實現等。實體測試則使用美商國家儀器（National Instruments）所推出的嵌入式系統CompactRIO 和sbRIO，以圖形化程式labVIEW 為軟體來進行編程，完成軟硬體整合及開發平台之運動行為。 | zh_TW |
| dc.description.abstract | Robot itself is a complicated system with high degree of freedom, it should integrate in areas such as mechanical, electrical, control and program. The main purpose of this thesis is to rapidly construct basic function of the two robots, hybrid platform and wheeled mobile platform, using almost the same embedded system.
In the hybrid platform, since we expect a single platform to achieve a variety of behaviors: wheel and leg, the design will include the use of motor to realize actions and the ideas about every action available. In wheeled mobile platform, the ultimate goal is to implement intelligent functions, the platform now will contain basic mobile functions, measurement of position, obstacle avoidance and balance function. We use the embedded system of National Instruments, CompactRIO and sbRIO, with graphical programming labVIEW to develop control systems. | en |
| dc.description.provenance | Made available in DSpace on 2021-05-20T21:34:43Z (GMT). No. of bitstreams: 1 ntu-99-R97522822-1.pdf: 2739072 bytes, checksum: 4f0686722712393e58bd617a986c7c1e (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | 口試委員會審定書 II
誌 謝 III 中文摘要 IV 英文摘要 V 圖 目 錄 VIII 表 目 錄 XI 第一章 緒論 1 1.1 前言 1 1.2 研究動機與目的 1 1.3 文獻回顧 3 1.4 論文貢獻與架構 11 第二章 輪腳複合式機器人硬體與機電架構 12 2.1 輪腳複合式機器人硬體 12 2.2 馬達與馬達驅動電路 17 2.3 嵌入式控制系統介紹 18 2.4 機電架構 20 第三章 輪腳複合式機器人控制系統與實驗 23 3.1 座標制定 23 3.2 馬達控制 24 3.3 系統架構 27 3.4 實際控制 29 3.5 目前具備機制 34 3.6 測試程式與保護機制 41 3.6 人機介面與實驗 42 3.8 問題與討論 45 第四章 雙輪平台硬體與機電架構 46 4.1 雙輪平台介紹 46 4.2 馬達與馬達驅動電路 47 4.3 升壓電路 49 4.4 感測儀器 50 4.5 嵌入式系統 52 4.6 機電架構 53 第五章 雙輪平台控制系統與實驗 55 5.1 輪平台座標和重心 55 5.2 基本功能 56 5.3 測程法 58 5.4 避障程式介紹 60 5.5 感測器資料擷取與校正 62 5.6 平衡理論 65 5.7 平衡程式實做 73 5.8 平衡實驗與討論 75 第六章 結論與未來展望 78 參考文獻 79 | |
| dc.language.iso | zh-TW | |
| dc.title | 嵌入式系統在移動機器人上之應用 | zh_TW |
| dc.title | Applications of Embedded Systems on the Mobile Robots | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 98-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 鄭榮和(Jung-Ho Cheng),黃光裕(Kuang-Yuh Huang) | |
| dc.subject.keyword | 嵌入式系統,輪腳複合平台,雙輪平台, | zh_TW |
| dc.subject.keyword | embedded system,hybrid platform,two-wheeled platform, | en |
| dc.relation.page | 81 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2010-08-17 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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|---|---|---|---|
| ntu-99-1.pdf | 2.67 MB | Adobe PDF | 檢視/開啟 |
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