Mechanism Design and Balanced Control of the Two-Wheeled Robot
碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 96 === The purpose of this thesis is to design and control a two-wheel robot with self-balanced function. The personal computer is the control center of the entire system, and use DAQ cards to retrieve the signal of sensors and encoders. For achieve two-wheel balanc...
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ndltd-TW-096NTUS51460172016-05-13T04:15:17Z http://ndltd.ncl.edu.tw/handle/41632206937832129448 Mechanism Design and Balanced Control of the Two-Wheeled Robot 雙輪機器人之機構設計與平衡控制 Ying-Jie Chen 陳英傑 碩士 國立臺灣科技大學 自動化及控制研究所 96 The purpose of this thesis is to design and control a two-wheel robot with self-balanced function. The personal computer is the control center of the entire system, and use DAQ cards to retrieve the signal of sensors and encoders. For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second. We collect the information of gyroscopei, tiltmeter and encoders as the input of controller, and through calculating with fuzzy algorithm, the robot achieves self-balanced, turned right or left and moved function. Shih-Hsuan Chiu 邱士軒 2008 學位論文 ; thesis 83 zh-TW |
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碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 96 === The purpose of this thesis is to design and control a two-wheel robot with self-balanced function. The personal computer is the control center of the entire system, and use DAQ cards to retrieve the signal of sensors and encoders. For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second. We collect the information of gyroscopei, tiltmeter and encoders as the input of controller, and through calculating with fuzzy algorithm, the robot achieves self-balanced, turned right or left and moved function.
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Shih-Hsuan Chiu |
author_facet |
Shih-Hsuan Chiu Ying-Jie Chen 陳英傑 |
author |
Ying-Jie Chen 陳英傑 |
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Ying-Jie Chen 陳英傑 Mechanism Design and Balanced Control of the Two-Wheeled Robot |
author_sort |
Ying-Jie Chen |
title |
Mechanism Design and Balanced Control of the Two-Wheeled Robot |
title_short |
Mechanism Design and Balanced Control of the Two-Wheeled Robot |
title_full |
Mechanism Design and Balanced Control of the Two-Wheeled Robot |
title_fullStr |
Mechanism Design and Balanced Control of the Two-Wheeled Robot |
title_full_unstemmed |
Mechanism Design and Balanced Control of the Two-Wheeled Robot |
title_sort |
mechanism design and balanced control of the two-wheeled robot |
publishDate |
2008 |
url |
http://ndltd.ncl.edu.tw/handle/41632206937832129448 |
work_keys_str_mv |
AT yingjiechen mechanismdesignandbalancedcontrolofthetwowheeledrobot AT chényīngjié mechanismdesignandbalancedcontrolofthetwowheeledrobot AT yingjiechen shuānglúnjīqìrénzhījīgòushèjìyǔpínghéngkòngzhì AT chényīngjié shuānglúnjīqìrénzhījīgòushèjìyǔpínghéngkòngzhì |
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