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研究生： 郭嘉興
Chia-Hsing Kuo
論文名稱： 遠端監控功能之順從式足型機器人
Compliant Hexapod Robot with Web-base Remote Monitoring and Control
指導教授： 鍾鴻源
Hung-Yuan Chung
口試委員:
學位類別： 碩士
Master
系所名稱： 資訊電機學院 - 電機工程學系
Department of Electrical Engineering
畢業學年度： 92
語文別： 中文
論文頁數： 92
中文關鍵詞： 遠端監控 、移動機器人 、六足的
外文關鍵詞： remote control, mobile robot, hexapod
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    • 本篇論文將介紹一種新型態移動機器人設計架構，並且對此機器人做初步的步態控制探討。機器人的架構主要基於順從型之六足機器人所發展，目的是可以在複雜的環境下行走。機器人的架構設計是以六顆致動器為主軸，以及機構的建立、致動器驅動電路與控制器系統等。在實驗上也會對此順從式機器人做一些步行、轉彎等控制，以及爬斜坡、跨越障礙物等測試。
    此外，本文將所建立之機器人應用於遠端監控系統，此套系統是採主從式架構，分為伺服端與客戶端。伺服端包含主控電腦、機器人與CCD攝影機，目的是要讓遠端的使用者，透過客戶端應用程式，以網路連結方式登入主控電腦，直接操控在伺服端的機器人，並藉由伺服端之CCD攝影機，將即時影像透過網路回傳給客戶端的使用者，以此方式操縱遠端的機器人，達到基本的遠端監控。

    In this paper, we introduced a novel architecture design of mobile robot, and discussed preliminary control of the robot gait. The design of the robot is based on the compliant hexapod robot system in order to walking over broken and irregular terrain. The architecture of robot, we proposed, consist of the six actuator, mechanism, motor driving circuit and controller system.
    Experiment show that hexapod robot can achieve dynamically stable walking and turning, other complex locomotion such as slope climbing and obstacle crossing.
    In addition, we applied the hexapod robot to the remote control system. This system is a client-server architecture, consisting of two parts, i.e., the server and the client. On the server side, there are a host PC, hexapod robot and CCD camera. The client user can connect the host PC through the Internet, and control the robot directly. According to the image of the server site in order to achieve the real-time teleoperation.

    第一章 緒論 1.1 研究動機與目的 1 1.2 文獻回顧 2 1.3 論文架構 3 第二章 系統介紹 2.1 前言 4 2.2 系統架構 4 2.3 遠端監控技術 7 第三章 順從式足型機器人硬體設計 3.1 前言 11 3.2 順從式機器人簡介 11 3.3 機器人硬體架構與系統規劃 13 3.4 致動器之選用 17 3.4.1 伺服機工作原理 19 3.4.2 伺服機改裝360度旋轉 22 3.5 編碼器 24 3.6 計數器 26 3.7 電子羅盤 28 3.8 MSP430微處理器 30 3.8.1 MSP430簡介 30 3.8.2 計時器模組 30 3.9 串列通訊傳輸 35 3.9.1 MSP430之串列通訊界面 35 第四章 遠端控制系統與操作界面設計 4.1 前言 38 4.2 LabVIEW簡介 39 4.3 LabVIEW之網際網路系統 40 4.3.1 TCP /IP 網路協定 40 4.4 LabVIEW之串列通訊界面 43 4.5 影像傳輸 45 4.5.1 ActiveX技術 45 4.6 圖形使用者界面 47 第五章 步態規劃與實驗測試 5.1 前言 49 5.2 步態規劃 50 5.3 程式流程介紹 54 5.4 實驗結果 58 5-4-1 機器人前進實驗 58 5-4-2 機器人後退實驗 59 5-4-3 機器人左轉實驗 60 5-4-4 機器人右轉實驗 61 5-4-5 機器人斜坡實驗 62 5-4-6 機器人跨越一層障礙物實驗 63 5-4-6 機器人跨越雙層障礙物 64 第六章 結論與建議 6.1結論 65 6.2硬體之未來發展 65 參考文獻 67 附錄 71

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