臺灣博碩士論文加值系統

近年來老年人口比例逐年上升，長期照護需求持續增加。因此照護機器人之研發更顯為重要。本研究在於照護型機器人之七自由度機械手指開發與控制，以Windows C#及ARM Cortex-M4架構之微處理器(MCU)作為平台，微控制器處理馬達控制訊號輸出、感測器類比訊號擷取，其主要功能為使用PID控制直流馬達，六軸感測器及壓力感測器的轉換及讀取，以細膩仿人動作及抓取力道，提供被照護者安全互動及適當的需求。

In recent years, an increasing proportion of elderly population, increased demand for long-term care. Therefore, the development of care robots more important. This study was developed with seven DOF finger robot control care of, to Windows C # and microprocessor architecture of ARM Cortex-M4 (MCU) as a platform, a microcontroller motor control signal output process, the sensor captures analog signals take, its main function is to control a DC motor using PID, conversion and read the six-axis sensors and pressure sensors, delicate humanoid movements and gripping force Road, caregivers are provided adequate security and interactive needs.

摘　要 i
ABSTRACT ii
誌　謝 iii
目 錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 研究方法與步驟 4
1.4 文獻回顧 5
1.5 論文架構 10
第二章 機電硬體介紹 11
2.1 手指控制與硬體介紹 11
2.1.1　手指馬達 13
2.1.2　手指感測器 14
2.1.2.1　旋轉電位計 14
2.1.2.2　壓力感測器 15
2.1.2.3　溫度感測器 16
2.2 手指電路介紹 17
2.2.1微控制器 17
2.2.2馬達驅動板 18
2.2.3數位電容轉換器 21
第三章 系統架構與實現 23
3.1 微控制器單元(Microcontroller Unit) 23
3.1.1 類比數位轉換器(Analog to Digital Converter) 23
3.1.2 系統ADC模式 25
3.1.3 ADC與DMA關聯 26
3.1.4 PWM脈波寬度調變控制 27
3.2 馬達PID控制 28
3.3 六軸融合AHRS 29
3.4 周邊裝置通訊機制CAN BUS 32
3.5. 系統控制策略 34
3.5.1回饋控制系統 34
3.5.2壓力感測回饋 36
3.5.3程序控制流程 37
3.5.4人機介面 39
3.5.5軟體流程 43
第四章 實驗結果與驗證 44
4.1 關節位置控制實驗 44
4.2手指重複精度測試 50
4.3 六軸運動感測器測試 56
4.4 實物抓取 60
第五章　結論與未來展望 64
5.1 結論 64
5.2未來展望 65
參考文獻 66

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