臺灣博碩士論文加值系統

在本研究可分為兩個部份，第一部分為實體機器人的組裝與控制，硬體主要是利用3D列印機將四足仿生機器人的各個零件列印出來，先將Ubuntu系統中的機器人控制訊號傳送至樹莓派的Raspbian系統，並處理其接收的控制訊號，再透過I2C通訊方式，將處理過後的PWM控制訊號傳遞至PCA9685模組，分別控制每顆伺服馬達來移動四足仿生機器人，第二部分是機器人模擬的測試，先將機器人以URDF格式建模後，並在Rviz中顯示與修正模型，再將修改後的模型放入Gazebo模擬軟體，做實際環境的模擬與測試。本研究主要是使用機器人作業系統為平台，它使用節點來做為訊息發佈與接收的通道，將所需要的訊息傳遞至實體與模擬機器人，最終實現機器人實體與模擬同步動作的目標。

The research in this paper can be divided into two parts. The first part is the assembly and control of the robot. The parts of the quadruped bionic robot were printed with a 3D printer. First, the robot control signals are sent from the Ubuntu system on a PC to a Raspberry Pi with a Linux-like operating system called Raspbian. Then, the computed PWM signals are transmitted to the PCA9685 module with the I2C communication protocol. Finally, each servo is turned according to its PWM signal in order to move the quadruped bionic robot. The second part is the test of robotic simulation. First, the original robot model is represented in Unified Robot Description Format (URDF) and displayed in Rviz, where the model is modified. Then, the revised model is read by Gazebo, where the simulation and testing of the actual environment are done. The main robot control architecture is Robot Operating System (ROS), which provides topic channels where messages are sent and received by nodes (applications). The messages are sent to the physical robot and to the simulation visualization tool so that the physical action and the simulated action are synchronized, and the goal of the physical robot and that of the simulated robot can be gradually achieved.

摘要 ........................................................................ i
Abstract ........................................................................ ii
目錄 ........................................................................ iii
表目錄 ........................................................................ vi
圖目錄 ........................................................................ vii
第一章 緒論 ........................................................................ 1
1.1 研究背景 ........................................................................ 1
1.2 研究動機與目的 ........................................................................ 2
1.3 文獻探討 ........................................................................ 3
第二章 系統與工具介紹 ........................................................................ 4
2.1 Linux 作業系統 ........................................................................ 4
2.2 Ubuntu系統 ........................................................................ 5
2.3 Raspbian 系統 ........................................................................ 6
2.4 Robot Operating System （ROS） ........................................................................ 7
2.5 Rviz 視覺化軟體 ........................................................................ 9
2.6 Gazebo 模擬軟體 ........................................................................ 10
第三章 硬體與設備介紹 ........................................................................ 11
3.1 Raspberry Pi 3 Model B+ 介紹 ........................................................................ 11
3.2 PCA9685介紹 ........................................................................ 13
3.3 直流伺服馬達 ........................................................................ 14
3.3.1 MG90S伺服馬達 ........................................................................ 14
3.3.2 SG90伺服馬達 ........................................................................ 15
3.4 LM2596降壓模組 ........................................................................ 16
3.5 3D列印模型 ........................................................................ 17
第四章 研究方法 ........................................................................ 18
4.1 四足仿生機器人的測試與開發 ........................................................................ 18
4.1.1 四足仿生機器人的組裝 ........................................................................ 18
4.1.2 四足仿生機器人的動作測試與開發 ........................................................................ 21
4.2 四足仿生機器人的模擬測試與開發 ........................................................................ 23
4.2.1 四足仿生機器人的虛擬模型建置 ........................................................................ 23
4.2.2 四足仿生機器人的步行模擬測試 ........................................................................ 27
4.2.3 四足仿生機器人的整體控制流程 ........................................................................ 28
第五章 實驗結果與分析 ........................................................................ 31
5.1 四足仿生機器人實測結果 ........................................................................ 31
5.1.1 硬體出現的問題與其修正方法 ........................................................................ 31
5.1.2 無線通訊出現的問題與其修正方法 ........................................................................ 35
5.1.3 四足機器人階梯地形測試 ........................................................................ 35
第六章 結論與未來展望 ........................................................................ 37
6.1 結論 ........................................................................ 37
6.2 未來展望 ........................................................................ 38
參考文獻 ........................................................................ 39
附錄 ........................................................................ 40
A.1　課程教學 ........................................................................ 40
A.1.1　課程規劃 ........................................................................ 40
A.1.2　課程硬體介紹 ........................................................................ 42
A.1.2.1　Arduino UNO ........................................................................ 42
A.1.2.2　SG90伺服馬達 ........................................................................ 43
A.1.2.3　黑白線循跡識別感測器 ........................................................................ 44
A.1.3.　課程內容 ........................................................................ 45
A.1.3.1　模擬質量-彈簧-阻尼系統的教學 ........................................................................ 45
A.1.3.2　LED跑馬燈的控制與實作教學 ........................................................................ 47
A.1.3.3　實作四足仿生機器人 ........................................................................ 49
A.1.3.4　實作六足仿生機器人 ........................................................................ 52
A.2　課程問卷分析 ........................................................................ 54
A.3　自造機器人課程問卷 ........................................................................ 64

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