臺灣博碩士論文加值系統

本文主要應用SOPC技術研發具雙臂互動策略之人型機器人運動控制系統，在此系統的控制晶片內可概分為兩部分，第一部分是在晶片內以數位硬體電路實現訊號擷取與輸出控制訊號之功能，其中包含光學編碼器信號偵測、四倍頻解碼電路、極限開關訊號偵測與脈波寬度調變信號輸出等。第二部分則是在Nios II微處理器內以軟體方式實現控制動作，其功能有運動學之計算、空間中點對點運動控制、連續運動軌跡計算、雙臂互動策略之運動控制與模糊滑動模式控制器等。系統晶片採用美商ALTERA公司生產的Stratix II EP2S60F672C3N現場可程式邏輯閘陣列（FPGA），在系統晶片內之硬體部分使用Verilog HDL撰寫；軟體部分則使用C程式語言撰寫。最後，本論文整合了Nios II發展版、雙臂機器人和直流馬達驅動電路等，對各軸之步階響應、空間中多軸同動之點對點軌跡規劃及雙臂互動策略進行一連串的實驗，經由實驗結果可驗證本文所設計的系統晶片之有效性與正確性。

A motion control for the interactive strategy of dual arms robotic system using SOPC technology is presented in this thesis. In the proposed strategy of motion control, it can be divided into two parts. One is implemented by hardware circuit. It includes quadrature encoder pulse process, limit switches detect, and pulse width modulation generators. The other is implemented by software using Nios II micro processor. Its functions are kinematics of dual arms robot, point to point motion control, continuous motion trajectory calculates, motion control of interactive strategy of dual arms, and fuzzy sliding mode control. The FPGA chip adopts ALTERA Stratix II EP2S60F672C3N as the development board. The digital hardware circuits are designed by Verilog HDL and programs in Nios II micro processor is coded in C language. Finally, an experimental system integrates Nios II development board, dual arms robot, and DC motor drivers. Then, this thesis executes a series of experiments, which include step response of each joint, point to point motion trajectory control, and interactive strategy of dual arms. The experimental results have been provided and demonstrated the effectiveness and correctness of the proposed dual arms robotic system.

摘要 I
Abstract II
誌謝 III
目錄 IV
圖表索引 VI
符號縮寫 IX
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 1
1.3 研究動機與目的 4
1.4 論文架構 5
第二章 系統架構 6
2.1 Nios II發展板 8
2.1.1 Nios II微處理器規劃 11
2.1.2 程式撰寫與燒錄 13
2.2 雙臂機器人 14
2.3 馬達驅動電路 15
2.3.1 脈波寬度調變電路（PWM） 16
2.4 個人電腦 17
第三章 機械手臂運動學理論分析 18
3.1 連桿座標系統與其參數 18
3.2 機械手臂運動學分析 20
3.3 機械手臂反運動學 25
3.4 梯型速度規劃 28
第四章 控制理論 34
4.1 模糊邏輯控制 35
4.2 滑動模式控制 38
4.3 模糊滑動模式控制 41
第五章 實驗結果與討論 45
5.1 模糊滑動模式控制器實驗 45
5.1.1 模糊滑動模式控制器之實現 45
5.1.2 模糊滑動模式控制器之實驗結果 47
5.2 單手對靜態目標物之抓取與擺放 55
5.3 雙手對靜態目標物抓取與擺放之互動策略 57
5.4 實驗結果討論 59
第六章 結論與未來展望 60
6.1 結論 60
6.2 未來展望 60
參考文獻 62
作者簡歷 67

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