| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 95 === The objective of this thesis is to develop and control a four-link robot. A DSP chip is used to control the motion of this robot. The four-link robot will stand up vertically and stably on the horizontal and inclined surface with unknown loading on one of the link. The robot will execute the planned motion by controlling the servo motor based on the unknown COG position.
The robot is composed of three servo motors, four unequal-length links and a tilt sensor. There are three joints and four links in the robot structure. The length of this robot is symmetric with respect to the second joint. The outside links are short, and inside links are long. The tilt sensor is used to measure the inclination angle of the robot. The encoders are applied to measure rotational angles and velocities of motors. The DSP is the major controller of the system, which includes artificial neural network(ANN) algorithm, fuzzy control algorithm, motor control, A/D converter and signal process etc. The simulated results indicate that the four-links robot is able to stand up by itself on the horizontal and inclined surface with unknown loading on one of the link.
|
|---|
