臺灣博碩士論文加值系統

本文使用可程式邏輯元件CPLD建構運動追蹤器系統 (Motion Tracker) 以及人形機器人 (Humanoid Robot) 的介面設計，並且完成韌體撰寫。
在運動追蹤器部分，除了電路板的焊接與外框架的組裝外，亦將系統擴充至四組連線，並且進行透鏡扭曲校正與參數最佳化提升追蹤精度，並分析結果。最後對於訊號的品質也提出了一個評等的方式，作為後續資料處理的依據。
在人形機器人方面，建構一29自由度 (馬達) 之模組，於控制方面使用與追蹤器相同之中央控制板 (Central Control Unit, CCU)，以解決介面設計上的限制，達成更多樣化的功能，並且對於訊號的傳輸、伺服機馬達PWM訊號之產生、PC端程式的撰寫…等作詳細的說明，最後將程式實際運作並教導機器人完成動作展示。

The topic of this research is using CPLD to construct a Motion Tracker System and Humanoid control interface and respective firmwares.
For the Motion Tracker System, we made many electronic boards to build four sets of tracking modules and connected as a human motion tracking system. All of the CCD units should do the lens distortion calibration to reduce the aberration errors. For 3D calibration, the actual parameters are quite different from the designed values. So the optimization process is a necessity. After the experiments, we analyzed the results and also made some discussions. Finally, a data rectification method is proposed for post-processing the captured data in the future.
For the Humanoid, we assembled a 29-freedom robot module. In control interface, the same CCU board of Motion Tracker System is used to reduce the complexity. The versatility of the CCU board achieves various functions. The control methods of data transformation, PWM generation for servos, and PC interface are also addressed.

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VII
表目錄 XI
第一章 緒論 1
1.1 研究動機與目的 1
1.2 研究背景與文獻回顧 2
1.3 本文架構 6
第二章 系統架構 8
2.1 空間定位原理 8
2.2 硬體架構 11
2.2.1 CCU模組電路板 15
2.2.2 CCD單元電路板 17
2.2.3 LED Driver電路板 20
2.2.4 RF模組 22
第三章 系統校正實驗 24
3.1 透鏡扭曲校正 24
3.1.1 校正原理 25
3.1.2 實驗方法 26
3.1.3 結果分析 31
3.2 參數最佳化校正 35
3.2.1 空間點計算 35
3.2.2 參數最佳化方法 39
3.2.3 27參數定義 40
3.2.4 實驗方法 44
3.2.5 結果分析 48
第四章 資料傳輸架構與整流 56
4.1 系統傳輸架構 56
4.2 資料整流依據 58
4.3 資料整流方法 63
第五章 人形機器人韌體控制 67
5.1 人形機器人規格 67
5.2 機器人資料傳輸方法 71
第六章 結論與建議 78
6.1 研究成果 78
6.2 討論與建議 80
6.3 未來展望 82
參考文獻 83
附錄 87
A. 透鏡扭曲校正實驗PC端與韌體使用簡介 87
B. 參數最佳化校正PC端與韌體使用簡介 89
C. 主從式架構取像程式 92
D. 機器人控制程式 92
E. 程式對照表 93
F. 全文英文縮寫對照表 94
自述 95

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