LabVIEW-Based Motion Control of Wheeled Robot

• Main Authors: Chang, YanCheng, 張晏誠
• Other Authors: Huang, ZhengZi
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/53866444669184568719

碩士 === 中國文化大學 === 機械工程學系數位機電碩士班 === 102 === Due to the continuous progress of science and technology, industrial automation gradually become a trend. Industry and academia have begun to design robots to replace human, how to plan the path of the robot, and simulate real path as reference for the subject to do research and discussion. In this thesis, using self-propelled vehicle axle rotation position sensors for recording the information, so that self-propelled vehicle in an unknown environment to the target point is not lost and can move. Based on current industry trajectory planning Fifth-order trajectory equation can produce a smooth curve on the coordinate plane motion and time, combined with the self-propelled vehicle trajectory equations simulate a one-dimensional space on a MATLAB generate a straight line at a time when the coordinates the actual movement on a smooth curve, then do real terms, with the LabVIEW platform via Bluetooth software program returns the second round of self-propelled vehicle master PBASIC chip up control motors, drives a car on a one-dimensional plane made simulation plan trajectory. Experimental results show, five trajectory planning, can effectively make the car smoother when you start or when to slow down.