Motion Control of Humanoid Robot with Interactive Strategy of Dual Arms by Using a SOPC System

• Main Authors: Kai-Wei Lan, 藍凱威
• Other Authors: Shiuh-Jer Huang
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/56363191841821865949

碩士 === 國立臺灣科技大學 === 機械工程系 === 96 === A motion control for the interactive strategy of dual arms robotic system using SOPC technology is presented in this thesis. In the proposed strategy of motion control, it can be divided into two parts. One is implemented by hardware circuit. It includes quadrature encoder pulse process, limit switches detect, and pulse width modulation generators. The other is implemented by software using Nios II micro processor. Its functions are kinematics of dual arms robot, point to point motion control, continuous motion trajectory calculates, motion control of interactive strategy of dual arms, and fuzzy sliding mode control. The FPGA chip adopts ALTERA Stratix II EP2S60F672C3N as the development board. The digital hardware circuits are designed by Verilog HDL and programs in Nios II micro processor is coded in C language. Finally, an experimental system integrates Nios II development board, dual arms robot, and DC motor drivers. Then, this thesis executes a series of experiments, which include step response of each joint, point to point motion trajectory control, and interactive strategy of dual arms. The experimental results have been provided and demonstrated the effectiveness and correctness of the proposed dual arms robotic system.