臺灣博碩士論文加值系統

本論文的目的是實現一個基於運動學與逆運動學的推導計算出機器人足部各關節角度，並進行遠端避障控制的六足機器人。我們使用Visual Studio撰寫控制動作的人機介面，而機器人身上的Arduino Mega ADK晶片負責傳達指令到每個關節的馬達上。以往大多數足式機器人之運動設計是依照各機械結構直接對馬達下達角度命令，但在這裡我們實現使系統能自主地透過逆運動學演算，計算出各個伺服馬達所該轉動的角度，大幅降低其運動設計的複雜性，而無須因機械結構改變而費時地設計其運動。我們也利用逆運動學演算法完成了使機器人沿著在人機介面中所規劃的直線或圓形軌跡行走。避障部分是以超音波感測器做為感測元件，利用超音波感測器得知與障礙物間的距離進而控制伺服馬達驅動板使其運動而避障。

The purpose of this thesis is to achieve a hexapod which via kinematics and inverse kinematics to calculate the angle of each joint, obstacle avoidance and basic path planning. We design the human-computer interface for action control by Visual Studio C#, and the Arduino Mega ADK is responsible for sending instructions to the servo on each joint. In contrast to the most previous motion control design methods for legged robots base on trial and error by directly sending the angle commands to each servo in accordance with the mechanical structure, we achieve the inverse kinematics to enable the servo control system using the inverse kinematics to significantly reduce the complexity of the motion control design. In order to make the robot to walk steadily on any terrain, we analyze the various gait of the robot and achieve it.We also use inverse kinematics to achieve the robot walk along the circular path or straight path which we planned in human-computer interface.The obstacle avoidance part is based on the ultrasonic sensor as the sensing element, using the ultrasonic sensors to measure the distance between the obstacle and the robot, then control the servo controller to move for avoiding obstacles.

ACKNOWLEDGEMENTS I
ABSTRACT (IN ENGLISH) III
ABSTRACT (IN CHINESE) IV
TABLES OF CONTENTS VI
LIST OF FIGURES VIII
LIST OF TABLES IX
1 INTRODUCTION 1
1.1 Background and Motivation 1
1.2 Review of the Literature 2
1.3 System Architecture 3
1.4 Structure of the Thesis 4
2 DESCRIPTION OF THE SYSTEM HARDWARE AND SOFTWARE 5
2.1 Body Apparatus and Hardware 6
2.1.1 Microcontroller (Arduino Mega ADK) 7
2.1.2 Servo Controller (Pololu Maestro) 8
2.1.3 DC Servos (Hitec) 10
2.1.4 Ultrasonic Sensor(Parallax) 12
2.1.5 Bluetooth Module (HC-06) 13
2.2 Software Development Environment 14
2.2.1 Microsoft Visual Studio 2015 14
2.2.2 Arduino Development Platform 15
3 KINEMATICS AND INVERSE KINEMATICS OF THE ROBOTIC SYSTEM 16
3.1 Denavit - Hartenberg(D-H) Representation 17
3.2 Leg Parameters of Hexapod 19
3.3 Forward Kinematics 20
3.4 Inverse Kinecmatics 21
3.5 Geometrical Constraints of Each Leg 25
4 EXPERIMENTAL RESULTS 26
4.1 The Robot Motion Description 26
4.2 Gait Analysis 29
4.2.1 Tripod Gait 29
4.2.2 Wave Gait 30
4.2.3 Ripple Gait 32
4.3 Obstacle Avoidance 33
4.4 Path planning 36
4.4.1 Straight line trajectory 36
4.4.2 Circular trajectory 41
5 CONCLUSIONS AND FUTURE PROSPECT 44
5.1 Conclusions 44
5.2 Future Prospect 44
REFERENCES 46

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