Design and Implementation of Motion Platform and Manipulator Controller for Home Service Robot

• Main Authors: Shiu-Jung Chiu, 邱仕榮
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/42657895538090795044

碩士 === 國立成功大學 === 電機工程學系碩博士班 === 97 === This thesis mainly explores the control of the motion platform and the manipulation of a home service robot. First, the hardware architecture is described. This home service robot with 135 cm height and 40 kg weight, has a pair of 6-DOF (degree of freedom) robot arm and a motion platform. This thesis presents the motion platform driven by DC motors equipped with optical encoders and the robot arms consist of the servo motor manufactured by DYNAMIXEL. In motion platform, the angle of the rotation, motor controller and the graphic user interface are combined to implement a robust fuzzy control motion platform system. Besides, the NIOS is used as a central processor unit and a development interface is utilized to construct a control strategy generated system. For the robot arm control, to use the kinematic and the geometrical inverse kinematic analysis, we can derive a mathematic algorithm which transforms the arm position and posture to the joint angles of the corresponding rotary joint. Furthermore, we develop a trajectory strategy controller to command and track the destination movements. Finally, the experimental results illustrate the feasibility of the proposed system.