臺灣博碩士論文加值系統

這篇論文主要研究的重點是提出適用於全向輪驅動球輪之球形機器人的控制方法。此球形機器人之動態模組是從尤拉方程式衍生，因此，此機器人在固定速度下保持垂直的角度功能，提出分為兩大演算法之七種控制法則。第一種演算法為可變結構系統控制(VSSC)，其特性是可調整參數讓它到沿滑動平面達到上述的功能。第二種為非線性迴授控制，它與VSSC不同的是該輸入是平滑的。藉由這兩個類型的模擬已經可以證實可讓球型機械人保持垂直且平穩等速的移動。

This thesis mainly discusses the control of a spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived from Euler Lagrange approach. Therefore, seven different control methods are presented which can achieve a constant speed at a vertical balance altitude. The proposed control methods can be categorized into two algorithms. The first algorithm is the variable structure system control (VSSC) in which the time needed to enter the sliding surface or to reach the stable point can be adjusted by parameters. The second one is the nonlinear feedback, but its smoothing input is different from the switching input of variable structure system control (VSSC). The constant speed of the spherical robot with vertical balance altitude can be achieved by both algorithms and be verified by simulations.

摘要………………………………………………………………………………………..i
Abstract……………………………………………………………………………………ii
Contents…………………………………………………………………………………..iii
List of figures……………………………………………………………………………..iv
1 Introduction…………………………………………………………………………....1
2 System Description and Modeling………………………………………………….…5
3 Control Laws…………………………………………………………………………15
3.1 VSSCs Control…………………………………………………………………..15
3.2 Nonlinear Feedback Control…………………………………………………….18
4 Simulations and Discussions………………………………………………………....20
4.1 VSSc ….……………………………………………………………………….20
4.2 Nonlinear Feedback control…………………………………………………25
5 Conclusions…………………………………………………………………………28

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