臺灣博碩士論文加值系統

　　機器員的移動能力對於在RoboCup中的足球競賽是相關關鍵的因素。在本文中，將針對RoboCup小型聯盟的規則進行全方向性移動式機器足球員的研究與實現。在機器員機構方面，除了提供機器員完整運動能力(Holonomic Mobility)的全方向性驅動裝置之外，還包含盤球及踢球裝置，藉此增加機器員持球及傳球的競賽優勢。在機器員系統方面，使用控制晶片MC68332作為系統核心，設計專屬於全方向性機器足球員的微處理機控制系統，並依照控制晶片的模組化功能設計一系列的函式功能建構控制機器員運動行為的運作系統。並針對全方向性機器足球員的控制效能與裝置特性之間的關係進行實驗驗證。

Mobility of mobile robots is a vital factor of competition for playing soccer in RoboCup. In this paper, omni-directional soccer robots are designed and implementated for the small-size league of RoboCup. In mechanism, it provides not only an omni-directional drive device for holonomic mobility, but also includes dribbler and kicker device, in order to enhance robot’s holding and passing ability in the game. In system, we use MC68332 as system core, and design a microprocessor control system for the omni-directional soccer robot. According to control circuit, we design a series of program function to integrate a control system that can manipulate control robot’s motion behavior. Finally, experiments are aimed to reveal characteristics of the omni-directional soccer robot for promoting control performance.

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii

第一章 簡介 1
1.1 研究目的 2
1.2 相關研究 2
1.3 RoboCup 4
1.3.1 F180小型聯盟 6
1.3.2 現行規則 6
1.4 標準的參賽系統 8
1.5 工作項目 9
1.6 章節概要 10
第二章　全方向性機器足球員的動作原理 12
2.1 全方向性移動機器員的動作原理 12
2.2 全方向性機器足球員的驅動裝置 13
2.2.1 萬向輪 (Universal Wheel) 13
2.2.2 正交輪 (Orthogonal Wheels) 14
2.2.2.1 縱向正交輪 (Longitudinal Orthogonal Wheel) 16
2.2.2.2 側向正交輪 (Lateral Orthogonal Wheel) 17
2.3 全方向性機器足球員的運動方程式 18
第三章　全方向性機器足球員機構及控制電路的設計與實現 22
3.1 系統架構 23
3.2 系統控制電路 24
3.2.1 ＭC68332 25
3.2.2 其他電路元件 26
3.3 機構設計 27
3.3.1 全方向性驅動機構配置 28
3.3.2 盤球裝置 29
3.3.3 踢球裝置 30
3.4 運動方程式的簡化 31
3.5 全方向輪 33
3.6 無線通訊 35
第四章　全方向性機器足球員的運作系統 37
4.1 機器員運作系統 37
4.2 機器員運作系統功能 39
4.3 車體控制系統 42
4.3.1 開回路與閉迴路控制系統 42
4.3.2 反應控制迴圈 44
第五章　操作測試界面OMNISIM 47
5.1 程式功能 47
5.1.1 模擬控制 47
5.1.2 簡易遙控 50
5.1.3 數據接收 51
第六章　實驗與成果 54
6.1 實驗驗證 54
6.1.1 實驗一 反應控制迴圈的驗證 54
6.1.2 實驗二 全方向輪接觸面對於誤差的影響 59
6.2 實際成果 61
第七章　結論與未來研究方向 63
7.1 研究成果 63
7.2 未來方向 63
參考文獻 65

[1]http://marsrovers.jpl.nasa.gov/home/index.html
[2]http://www.robocup.org
[3]http://www.fira.net
[4]Borestein, J., “Control and Kinematic Design of Multi-Degree-of-Freedom Mobile Robots with Compliant Linkage,” IEEE Transactions on Robotics and Automation, Vol. 11, no. 1, pp.21-35, 1995.
[5]Reister, D. B, “A New Wheel Control System for the Omnidirectional HERMIES-III Robot,” Robotica Vol. 10, pp. 351-360, 1992.
[6]Dickerson, S. L. and B. D. Lapin, “Control of an omni-directional robotic vehicle with Mecanum wheels,” 1991 IEEE Int. Conf. On Robotics and Automation, pp. 323-328, 1991.
[7]Francois, G.P. and Killough S.M, “A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots,” IEEE Transactions on Robotics and Automation, Vol. 10, no. 2, pp.480-489, 1994.
[8]R. Balakrishna and Ashitava Ghosal, “Modeling of Slip for Wheeled Mobile Robots,” IEEE Transactions on Robotics and Automation, Vol. 11, no. 1, pp.126-132, 1995.
[9]Robert L. Williams, Brian E. Carter, Paolo Gallina, Giulio Rosati, “Dynamic Model with Slip for Wheeled Omnidirectional Robots,” IEEE Transactions on Robotics and Automation, pp. 285-293, 2002.
[10]Keigo Watanabe, “Control of an Omnidirectional Mobile Robot,” Second International Conference on Knowledge-Based Intelligent Electronic Systems, Adelaide, Australia, pp. 51-60, 1998.
[11]Raffaello D’Andrea, Tamas Kalmar-Nagy, Pritam Ganguly and Michael Babish ‘The Cornell RoboCup Team’, RoboCup 2000: Robot Soccer World Cup IV, pp.41-51.
[12]James k. Archibald and Randal W. Beard, ‘GOAL! Robot Soccer for Undergraduate Students’, Robotics & Automation Magazine, IEEE, Volume:11, Issue: 1, pp.70-75, 2004.
[13]Christopher Messom, ‘Robot Soccer:- Sensing, Planning, Strategy and Control, a distributed real time intelligent system approach’.
[14]Kuo-Yang Tu, ‘Design and Implementation of a Soccer Robot with Modularized Control Circuit’, RoboCup 2001: Robot Soccer World Cup V, pp.459-464.
[15]Motorola Inc., “MC68332 User’s Manual,” DataBook, 1990.
[16]Motorola Inc., “MC68332 Technical Summary,” DataBook, 1996.
[17]Motorola Inc., “TPU Time Processor Unit Reference Manual,” DataBook, 1996.
[18]Motorola Inc., “Pulse Width Modulation TPU Function (PWM),” DataBook, 1997.
[19]Motorola Inc., “Quadrature Decode TPU Function (QDEC),” DataBook, 1993.
[20]MXIC, “MX29F400T/B 4M-Bit [512k*8/256k*16] CMOS FLASH Memory,” DataBook, 2002.
[21]Winbond, “W24100 128 * 8 CMOS Static Ram,” DataBook.
[22]STMicroelectronics, “L298 DUAL FULL-BRIDGE DRIVER,” DataBook.
[23]http://www.acroname.com/robotics/parts/R97-4CM-POLY-ROLLER.html
[24]Radiometrix Ltd., “Radio Packet Controller,” DataBook, 1998.
[25]Faulhaber, “DC-Micromotors Precious Metal Commutation Series 2224… SR,” Databook.
[26]Faulhaber, “Encoders Magnetic Encoder Series IE2 - 400,” Databook.
[27]Motorola Inc., “Implementing SCI Receive and Transmit Buffers in C,” DataBook, 1997.
[28]Kuo-Yang Tu and Shi-Chao Luo, “Design and Implementation of Omni-Directional Soccer Robots for RoboCup,” The Eight International Conference on Automation Technology Conference, pp751-755, 2005.