| 摘要: | 本論文主要是用藍芽模組透過Arduino控制板下指令，給予輪型機器人多個路徑選擇，像是圓型或方型軌跡，是以輪型機器人在工廠搬運東西會走不同路徑且在每一個運送點進行卸貨工作為基礎設計，且為了避免機器人在行駛途中被出現的障礙物撞到，也在藍芽模組中設計一個停止鈕，讓機器人能在撞到前緊急停下來。
值得注意的是並不是設計從一個運送點到另一個運送點，而是設計一個完整工廠路線，這是考量到機器人在某些時候並不需要停下來卸貨，因此安裝一個暫停鈕讓機器人需要卸貨時才停，等裝卸結束再按一次結束暫停狀態到下一站。
使用的控制方法以PID控制為主，理由：簡單、容易對控制器作出調整、技術成熟穩定、快速響應和相對穩定。
研究平台是三輪的輪型機器人且都是全向輪，其最大特點就是能橫著走，儘管有一顆沒在動也能夠進行軌跡運動。
This thesis is about the control of wheeled robot using Arduino board with the trajectory commands being sent via Bluetooth module. To reflect the factory applications where things are to be carried along different paths and unload at each delivery point, the commands consist of multiple paths such as circular or square trajectories. On the other hand, in order to prevent the robot from hit by the obstacle, an emergency stop button is installed. It is worth noting that instead of designing from one delivery point to another, a complete factory route is designed, which is to take into account that the robot does not need to stop and unload at some point, so install a pause button to stop when the robot needs to unload, and then press the end pause state again to the next stop when the loading and unloading task is over.
The PID control method is adopted mainly for the following reasons: being simple, gains’ tuning being easy, being able to provide fast response and relative stability.
The research platform is a three omnidirectional wheeled robot, which can move freely in the work space and is particularly suitable for factory applications. |
