具手臂功能兩輪追蹤平衡車

Abstract

本論文實現一個具有手臂兩輪自主機器人，其主要架構包含馬達與驅動器、機器手臂、及影像物件追蹤系統。我們採用了四組比例、積分及微分控制器(Proportional-Integral-Derivative，PID)分別為位移、速度、角度與追蹤的PID進行對兩輪機器人整體的控制，其中位移的PID負責控制兩輪機器人與目標物的距離，速度的PID控制兩輪機器人速度，角度PID為了避免兩輪機器人過度傾斜，最後經由追蹤PID取得方位的控制力達成影像物件追蹤。影像物件追蹤是利用平板電腦影像模組取得即時影像，經過辨識後傳送目標中心點位置，計算後取得方位再經由追蹤PID的輸出控制力來達到影像物件追蹤。最後利用機器手臂，實現取得目標物件的功能。 透過以下幾個實驗，包含影像辨識實驗、影像追蹤實驗、追蹤吸取物體實驗，證明此論文的方法是可行的。

This thesis implements a two-wheeled autonomous robot with arms. The main structure of the two-wheeled autonomous robot includes motors and their driver circuits, a robotic arm, and an image tracking system. In order to control the two-wheeled autonomous robot, the four Proportional-Integral-Derivative (PID) controllers are used in the two-wheeled autonomous robot, including the displacement PID, the velocity PID, the angle PID, and the tracking PID. The displacement and speed PID controllers are in charge of controlling the movement and speed of the two-wheeled autonomous robot, respectively. The angle PID controller is used to avoid the excessive tilt of the two-wheeled autonomous robot. The tracking PID is used to obtain the control of the orientation to achieve the image object tracking. The image tracking system uses the tablet image module to obtain real-time images. After the object is identified and some image processing operations are performed, the orientation of the target is obtained and then the robot arm acquires the target object. Some experiments are performed, including image recognition, image tracking, and the acquirement of the target object. The experimental results demonstrate that the method of this thesis is feasible.