| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 93 === Image servo controller of omni-directional mobile robot for small-size soccer robot game is designed in this study. Small-size soccer robot game is using global vision system with CCD to capture the image of the soccer field. The control commands of the robot are calculated by the designed image servo controller, and then sent to the omni-directional robot through the RF wireless communication to complete whole control procedure.
First of all, the dynamic equations of omni-directional mobile robot are inferred based on related kinematic, static, and dynamic theory. According to the dynamic equations, PID controller and inverse dynamic controller are designed. Secondly, it uses Matlab Simulink simulation to assist the realization of omni-directional mobile robot, which includes commands generation, modeling robot, PID controller, and omni-directional mobile robot system. The workability is tested by point-to-point motion control simulation. Finally, image processing technology of image correction is applied to the image servo controller, such that errors caused by vision are corrected, and the image is close to the actuality without distortion. In testing omni-directional robot system, open-loop control and close-loop PID control are used to discuss the response of omni-directional mobile robot system, and then compared to the result of simulation to image servo control procedure.
According to the result of numerical simulation and experimenting on the field, employing the designed PID controller, the omni-directional mobile robot can obey the following designed control commands: X-axis, Y-axis, and angle control commands, and achieve the target and angle requested by the control command.
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