臺灣博碩士論文加值系統

本研究目標在於設計並製作出一台可進行姿態修正與自走移動的球型機器人，其使用了九軸感應器（加速度計、陀螺儀與電子羅盤）做為感測核心，用於感測機器人於靜止與移動時的狀態，並透過Wi-Fi將九軸感應器所感測到的資訊（加速度、角速度、磁場方向）回傳至操控端的手持平台，藉以得知機器人當前的姿態、方向與所在位置等資訊。

球型機器人的運動方式，是透過球體內部的兩輪機構於球內表面爬升時，形成作用力使機器人內部出現重心偏移，以達到機器人滾動之目標，其滾動速度可達0.33m/s。為增加球型機器人移動時的穩定性，在核心機構的底部安裝了一片金屬華司，藉此增加機器人的重心並減少移動時核心機構可能出現的搖晃；移動的過程中，將結合加速度計與陀螺儀偵測機器人的狀態，並將感測到的數值回傳至控制器端進行計算，控制器會將計算出的數值輸出至馬達控制板並驅動馬達運動，以達到機器人的姿態平衡及調整，使得機器人在移動的過程中能夠維持穩定。

The objective of this research is to design a spherical robot with the function of dynamic balancing and automatic moving. It uses a 9-axis sensor (including accelerometer, gyroscope and electronic compass) to sense its states, position and the surrounding environment, which can feedback relative information and let the user know the current states of the robot via Wi-Fi.

The spherical robot uses direct-driving method and place a two-wheel driving mechanism in the shell which drives the robot by rolling. Its moving speeds up to 0.33m/s. In order to make the robot move more stable, we install the metal washer under the robot's mechanism to increase the robot's barycenter and uses the sensors to real-time compute and correct its posture in this process, so that the robot can move forward, backward, turn around and maintain the stability while the robot moving.

摘要　i
ABSTRACT　ii
致謝　iii
目錄　iv
圖目錄　v
表目錄　vii
第一章　緒論　1
1.1　研究動機　1
1.2　研究目的　7
1.3　論文架構　8
第二章　相關文獻　9
2.1　Mechanical development and control of a miniature nonholonomic spherical rolling robot　9
2.2　具環境探勘功能之遙控球型機器人　10
第三章　球型機器人之系統架構與設計　12
第四章　球型機器人的運動分析　17
4.1　馬達輸出方程式　17
4.2　動態模型　18
第五章　球型機器人的控制與自走　22
5.1　球型機器人的動態平衡　22
5.2　球型機器人的自走　28
第六章　實驗結果與討論　31
6.1　實驗設計與目的　31
6.2　實驗結果　32
6.3　結果比較與分析　33
6.3.1　移動速度比較與分析　33
6.3.2　直線移動比較與分析　34
第七章　結論　38
參考文獻　39

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