| Summary: | 碩士 === 吳鳳科技大學 === 光機電暨材料研究所 === 103 === The main purpose of this thesis is to use a two-wheel difference velocity mobile as a platform for a restaurant serving robot. The SICK laser positioning system was installed on the robot for the positioning. Experiments with different positioning systems were conducted to find the route deviations and the experimental data can be used as a basis for controlling the serving robot in the future use.
The experiments were divided into two situations: with and without SICK laser positioning system. The measurements of deviation from straight line under different velocities and then that of round and square route were carried out. The comparison between the experimental data and the expectation values was also made.
Visual basic 6.0 was utilized as control software. It delivers control instructions through the VB programming in the computer and uses RS232 and USB to communicate with the motor drive. The motor drive controls the servomotor to turn clockwise or counterclockwise and consequently instructs the robot to follow and walk along the designated route.
Without the positioning system, the deviation of the guiding robot from the straight line route was getting bigger and bigger, which is unacceptable. However, when the robot was assisted by the SICK laser positioning system, the size of deviation was significantly reduced. Upon the completion of walking along the straight line route, the robot walks much closer to the expectation route. Therefore, the effect of using the laser position system to correct the deviation of the robot is evident with acceptable error range.
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