Image Servoing Motion control for an Omni-directional Mobile Robot
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...
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ndltd-TW-093TKU054890042015-10-13T11:57:25Z http://ndltd.ncl.edu.tw/handle/53730480268223227466 Image Servoing Motion control for an Omni-directional Mobile Robot 全方位移動機器人之影像伺服運動控制 Chih-Wei Li 李志偉 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. Yin-Tien Wang 王銀添 2005 學位論文 ; thesis 62 zh-TW |
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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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Yin-Tien Wang |
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Yin-Tien Wang Chih-Wei Li 李志偉 |
author |
Chih-Wei Li 李志偉 |
spellingShingle |
Chih-Wei Li 李志偉 Image Servoing Motion control for an Omni-directional Mobile Robot |
author_sort |
Chih-Wei Li |
title |
Image Servoing Motion control for an Omni-directional Mobile Robot |
title_short |
Image Servoing Motion control for an Omni-directional Mobile Robot |
title_full |
Image Servoing Motion control for an Omni-directional Mobile Robot |
title_fullStr |
Image Servoing Motion control for an Omni-directional Mobile Robot |
title_full_unstemmed |
Image Servoing Motion control for an Omni-directional Mobile Robot |
title_sort |
image servoing motion control for an omni-directional mobile robot |
publishDate |
2005 |
url |
http://ndltd.ncl.edu.tw/handle/53730480268223227466 |
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