| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 100 === In this thesis, we establish a hemisphere robot to achieve automatic balance control, and use PID controller with FUZZY inference to control the robot. In general, to maintain balance vertically for the robot and does not to move give a challenge in control. The hemisphere robot uses a balance beam on the top of the end effector taking right and left swings by keeping the beam on the horizontal axis. In order to swing freely to achieve balance, two AI motors are setup for the hemisphere robot to have two degrees of freedom ( swinging back and forth ), and a gyroscope with x−y −z tilt angles is installed at the bottom of the robot. Then, x−y−z tilt angles are fedback through inverse kinematics to the controller to actuate two motors such that the beam is kept on the horizontal axis after swinging. By using the Recursive NEWTON-EULER Formulation [1], we derive the hemisphere robot dynamic equations used to simulate the dynamic motion of the hemisphere robot. Finally, some simulations for the hemisphere robot using MATLAB is used to demonstrate the effectiveness and correctness of the proposed control method.
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