| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 94 === In this thesis, it presents the implementation of motion control for an omni-directional mobile robot, by using a multi-loop control structure, namely, current loop control, speed loop control and position loop control. The dynamics equation of the omni-directional mobile robot was inferred based on the theory of robot kinematics and dynamics. According to this dynamics model, the position loop controller was designed and implemented on a personal computer. The current and speed loop controllers were derived based on the characteristics of the driving motor, and realized by using digital logic circuits in a FPGA device. Using the concept of hierarchical and modular realization strategy, the logic circuits in the FPGA were re-used to reduce the design complexity and to decrease the total number of used gate counts in the FPGA. Totally six function modules were devised in this research, including the modules of UART, command decoder, current and position encoder feedback, current controller, motor speed controller, and PWM generator. The integrated system was tested on an omni-directional mobile robot, and the results showed that the developed multi-loop motion control was well-designed.
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