An Spherical Robot Design and Development with Wireless Remote Control

• Main Authors: Shun-Fa Wu, 吳順發
• Other Authors: Wen-Chuan Hsieh
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/42999754538000418588

碩士 === 國立高雄應用科技大學 === 資訊管理研究所碩士班 === 102 === Application of the robot can be divided into two categories, industrial robots and service robots. Industrial robots are widely used in manufacturing. The main use for robots. In recent years, service robots have gradually transcend trends of industrial robots, and gradually integrate into which people live. Service robots in entertainment robots also account for a place. The purpose of this study was to complete the ball-type entertainment robots. Most current research focuses on the sphere stability control, and a computer calculation of its results. This study will actually draw the ball in Google SketchUp robot internal structure, and rapid prototyping techniques fused deposition type (Fused Deposited Modeling, FDM). And PLA raw material to manufacture there centroid pendulum control the direction of the ball-type robot. In drive control and circuit aspects to MCU Arduino Nano combined inertial measurement unit (Inertial Measurement Unit, IMU).Using Inven Sense of MPU9150, and its 9-axis fusion algorithms and calibration of Digital Motion Processing (DMP) to detect the ball robot motion attitude. Receiving control commands transmitted around the front and rear Processing from the PC side in Bluetooth chip HL-MD08R-C2A to Roll Yaw Pitch way, with two servo motors are driven back and forth, left and right of the center of gravity of the pendulum and the balance control, to complete a wireless remote control of the ball-type robots.