Standing control of a three-link robot

• Main Authors: Feng-Ching Liao, 廖俸慶
• Other Authors: Wen-June Wang
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/19869277837155951986

碩士 === 國立中央大學 === 電機工程研究所 === 91 === The field of researching in robots is very extensive. Our three-link robot is simple of hardware in structure, but many functions. We control the robot to crawl, stand-up and lie-down successfully. The robot was made by three links and two joints, every joint was controlled by one motor. Two classmates worked together to manufacture and control this robot. They have written two theses, i.e., the standing and crawling control of a three-link robot, respectively. This thesis emphasizes how a three-link robot keeps balance and stands on a slope. The system of robot got the angle of inclination between the bottom of robot and the horizontal, the encoder return the signal of positional motor, and the signal of encoder was sent to the chip of FPGA or PC, then sent the control signal to the motors to make the variety of action after evaluate action and control algorithms. If the floor is in the range of 7 degrees, the robot can detect states and adjust it’s posture automatically, make sure of action was perfect smoothly. In the structure of hardware, we use PC or FPGA, D/A, A/D and noise filter circuit to complete the system of control.