| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 93 === Hand-eye coordination is a dexterity ability of the advanced creatures. To imitate the action of the human in humanoid robotics systems, the development of the hand-eye coordination ability is an important task. The visual servo techniques are always exploited for achieving this goal. The objective of this thesis is to control an inverted pendulum system with a CMOS (Complementary Metal-Oxide Semiconductor) image sensor that imitates a hand-eye coordination control system.
The system consists of a inverted pendulum mechanism, a motor actuator, an image processing module, an SRAM, an image sensor, and a balance controller. In this system, the image processing module is implemented by an FPGA device (EP1C12Q240C8, Altera). The CMOS image sensor from National Semiconductor is used for sensing the displacement of the pendulum and the balance controller is implemented by a digital signal processor (TMS320F240, TI).
The rotary inverted pendulum system is a fast, unstable and nonlinear system. It is composed by two rigid rods which lie in two different planes. The control objective is to balance the pendulum through the motor. To do so the digital image data of the image sensor is loaded into an SRAM. After that, the image processing algorithm is carried out by an FPGA device. Finally, the position of the pendulum obtained by the FPGA will be sent to a DSP-based LQR balance controller. This controller achieves balance control of the pendulum according to the angular displacement of the pendulum. The system is developed and proven to work well through simulation and experiment.
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