臺灣博碩士論文加值系統

本論文主要是設計與實現大型雙足機器人，此機器人擁有10個自由度並以靜態步行規劃行走步伐。過去學術界多是以市售的小型雙足機器人套件作為機器人研究平台，小型雙足機器人硬體與控制電路已由廠商製作完成，使用者僅需下達各關節轉動命令即可控制且適用於研究領域，難以應用到日常生活。國外大型雙足機器人製作成本高達數百萬，國內一般學術機構難以承擔其研究成本，基於此考量，本作品發展出一套低建置成本的大型雙足機器人系統，期望能有效降低大型雙足機器人之研究門檻。
機構方面我們參考了萬向接頭的觀念設計出萬向關節，使機器人的自由度更接近人類雙足，動作規劃依據靜態步行的原則，運用正向運動學、機器人整體重心計算等，規劃出穩定的機器人運動參考軌跡，再透過控制程式進行內差值計算，使得機器人行走更加平順，我們使用模糊邏輯控制器作為機器人關節定位控制器用以維持動作，由於機器人運動時需同時控制十顆馬達，對於系統運算負擔頗大，我們設計一套多晶片控制架構，能同時使用多組單晶片控制板作平行處理分擔運算工作。此外由於機器人機構方面有許多無法避免之間隙，造成機器人行走晃動，我們設計一個震盪消除控制器用來消除機器人行走時的晃動。最後由實驗中表現出具有相當之穩定性。

In this thesis, we design and implement a large-scale biped robot. The robot has ten degrees of freedom. Traditional large-scale biped robot is very expensive, thus we attempt to design a low cost biped robot in order to cut down the threshold in studying large-scale biped robot. The robot's static walking is planned by forward kinematics and COG (center of gravity). The stability of a biped robot depends on its COG if COG of a biped robot falls in the certain region. Furthermore, to make the system walking more smooth and stable, we used Mamdani type fuzzy logic controller to robot tracking control and anti-swing control. Due to ten motors act in the same time, we design multi-chip parallel processing control structure. Finally, the experimental results of propose large-scale biped robot demonstrates the good performance of the whole control system.

目錄
中文摘要................................................................................................................I
英文摘要..............................................................................................................II
誌謝.....................................................................................................................III
目錄.....................................................................................................................IV
圖目錄.................................................................................................................VI
表目錄..............................................................................................................VIII
第一章 簡介.........................................................................................................1
第二章 雙足機器人系統.....................................................................................5
2.1 雙足機器人之硬體架構................................................................................5
2.1.1 機構設計.................................................................................................6
2.1.2 萬向關節.................................................................................................7
2.1.3 馬達選擇...............................................................................................10
2.1.4 鏈輪........................................................................................................10
2.1.5 電位計...................................................................................................11
2.1.6 陀螺儀...................................................................................................13
2.2 電路系統......................................................................................................14
2.2.1 類比/數位轉換電路..............................................................................14
2.2.2 數位訊號處理器...................................................................................16
2.2.3 訊號轉換電路.......................................................................................18
2.2.4 馬達驅動電路.......................................................................................19
2.2.5 電源供應電路.......................................................................................20
2.3 供電系統......................................................................................................22
第三章 機器人主體系統狀態及運動軌跡產生...............................................23
3.1 概論..............................................................................................................23
3.2 座標系統......................................................................................................24
3.3 正向運動學..................................................................................................26
3.4 重心位置計算..............................................................................................27
第四章 機器人運動控制...................................................................................30
4.1 概論..............................................................................................................30
4.2 機器人監控介面..........................................................................................31
4.3 多晶片控制架構..........................................................................................32
4.4 關節定位控制器之設計..............................................................................33
4.5 關節定位控制器實驗結果..........................................................................36
4.6 震盪消除控制器之設計..............................................................................37
第五章 實驗結果分析與探討...........................................................................40
5.1 概論..............................................................................................................40
5.2 前進動作之重心模擬..................................................................................40
5.3 前進動作不使用震盪消除..........................................................................44
5.4 前進動作使用震盪消除..............................................................................52
第六章 總結.......................................................................................................59
6.1 困難之處與解決方法..................................................................................59
6.2 改進方向......................................................................................................61
6.3 未來展望......................................................................................................62
參考資料.............................................................................................................63
附錄.....................................................................................................................65
圖目錄
圖1.1 Honda-ASIMO機器人..............................................................................1
圖1.2 Toyota-Partner機器人...............................................................................1
圖1.3 HAL輔具機器人.......................................................................................2
圖1.4戰場搬運支援機器人................................................................................2
圖1.5 HUBO2.......................................................................................................3
圖1.6 Johnnie.......................................................................................................3
圖1.7 HRP3與HRP4C........................................................................................3
圖1.8 WABIAN-2R..............................................................................................5
圖2.1 雙足機器人系統.......................................................................................5
圖2.2 系統架構圖...............................................................................................6
圖2.3 雙足機器人機構設計...............................................................................6
圖2.4 萬向接頭...................................................................................................7
圖2.5 萬向關節...................................................................................................8
圖2.6 腰部分解圖...............................................................................................8
圖2.7 腰部組合圖...............................................................................................8
圖2.8 大腿分解圖...............................................................................................9
圖2.9 大腿組合圖...............................................................................................9
圖2.10 小腿分解圖.............................................................................................9
圖2.11 小腿組合圖.............................................................................................9
圖2.12 腳踝分解圖.............................................................................................9
圖2.13 腳踝組合圖.............................................................................................9
圖2.14 DC大扭力減速馬達(IG-52GM)..........................................................10
圖2.15 S3M高扭矩時規皮帶與皮帶輪...........................................................11
圖2.16 3/8吋鏈條與鏈輪..................................................................................11
圖2.17絕對值型旋轉編碼器............................................................................12
圖2.18日製碳膜密封可變電阻（電位計）....................................................12
圖2.19雙軸陀螺儀............................................................................................13
圖2.20 IDG1215內部結構圖............................................................................13
圖2.21電路架構................................................................................................14
圖2.22類比/數位轉換電路架構.......................................................................15
圖2.23 MAX197內部架構圖...........................................................................16
圖2.24 C8051F120DK開發板..........................................................................17
圖2.25 C8051F120功能方塊圖........................................................................17
圖2.26 IXDP610 PWM產生器.........................................................................18
圖2.27 PWM訊號示意圖.................................................................................19
圖2.28 IR2111半橋式驅動器...........................................................................19
圖2.29 IR2111內部架構...................................................................................20
圖2.30 控制器電源架構...................................................................................20
圖2.31 馬達驅動器電源架構...........................................................................21
圖2.32 LM2576-5交換式穩壓器.....................................................................21
圖2.33線性穩壓器............................................................................................21
圖2.34 12V-7.2AH鉛酸蓄電池........................................................................22
圖3.1 雙足機器人.............................................................................................23
圖3.2 機器人參數定義(正面)..........................................................................24
圖3.3 機器人角度定義.....................................................................................25
圖3.4重心側視圖..............................................................................................28
圖3.5重心正視圖..............................................................................................28
圖3.6重心俯視圖..............................................................................................29
圖3.7重心斜視圖..............................................................................................29
圖4.1 機器人運動控制架構.............................................................................30
圖4.2 電腦端BCB監控介面...........................................................................31
圖4.3 多晶片控制架構.....................................................................................32
圖4.4 (a)輸入變數之歸屬函數 (b)輸出變數之歸屬函數..............................33
圖4.5 關節定位控制器之輸入、輸出歸屬函數.............................................35
圖4.6 關節定位追蹤軌跡.................................................................................36
圖4.7 腳踝機構示意圖與系統示意圖.............................................................37
圖4.8 震盪消除控制器之輸入、輸出歸屬函數.............................................38
圖5.1 重心運動軌跡.........................................................................................40
圖5.2 前進動作模擬.........................................................................................44
圖5.3前進動作..................................................................................................45
圖5.4 各關節運動軌跡與馬達出力.................................................................50
圖5.5 機身晃動訊號.........................................................................................51
圖5.6 震盪消除控制器輸出.............................................................................51
圖5.7 使用震盪消除-各關節運動軌跡與馬達出力.......................................57
圖5.8使用震盪消除-機身晃動訊號................................................................57
圖5.9使用震盪消除-控制器輸出....................................................................58
圖6.1 鏈條驅動系統.........................................................................................60
表目錄
表 3.1 機器人實際尺寸參數.............................................................................25
表3.2 各質量點重量.........................................................................................27
表3.3 各關節角度.............................................................................................27
表4.1平衡控制器模糊規則表..........................................................................35

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