本篇論文主要以研究輪型機器人之控制設計及其相關之DSP實踐，藉以實踐輪型機器人的軌跡控制。使用之兩輪機器人移動平台為差動輪式移動平台，此種輪型機器人具有穩定、效率高、移動速度快等優點，因此在軌跡控制等相關目地是最為被廣泛應用之平台。而主要基礎控制元件為DSP數位信號處理晶片，運用於軟體與相關控制設計實現輪型機器人之軌跡控制，在兩輪控制器系統的設計上，藉由使用DSP數位信號處理晶片為基礎控制元件來實現輪型機器人之軌跡控制。經測試多組直流伺服馬達、選用相關馬達驅動IC電路，以及電源轉換電路。並將此電路實踐於兩輪控制器系統設計，再以理論設計之控制器法則下載於DSP處理器中，建構出完整硬體實踐環境來驗證其實用性，來完成實踐輪型機器人之軌跡控制。
This thesis focuses on issues of tracking control designs for wheeled mobile robots and the associated DSP (digital signal processing) implementation. The two wheeled mobile is differential-type wheeled platform with stable, high efficiency and fast moving speed which is widely used in robot tracking control design. In order to implement wheeled mobile robot tracking control, DSP is used as the main control unit. The hardware testing environment is completed after testing several DC Servo motors, motor-driving IC circuits, power conversion circuits combinations in a two wheeled mobile robot system and download the control algorithms into DSP processor. The experimental results demonstrate the successfulness of the proposed design.
