具機械手臂之移動機器人系統整合與物件搬移控制器設計

Abstract

本論文開發以具機械手臂之移動機器人，其中機械手臂具有 4 個自由度，機械手臂上的四顆馬達，可驅動關節伸縮、旋轉及夾取。另外四輪移動機器人，可驅動輪子前進、後退及旋轉。因此該移動機器人在三維空間中自由移動，並且搬移物件到指定區域內。

具機械手臂之移動機器人是以微控制器作為控制的核心，透過霍爾元件偵測左右輪速度、超音波感測器偵測障礙物與影像偵測判斷物件的位置，最後將資料回傳至微控制器，另外本文由順向、逆向運動學來推導機械手臂上各關節變數以及 PID 控制器讓左右輪等速，使得具機械手臂之移動機器人可在室內自由移動、避障且可執行物件搬移功能。

This paper develops a mobile robot with a robot arm. The robotic arm has 4 degrees of freedom, the four motors on the robotic arm can drive the joints to expand, contract and rotate. In addition, the four-wheel mobile robot can drive the wheels forward, backward and rotate. Therefore, the mobile robot moves freely in a three-dimensional space and moves objects to a designated area.

The mobile robot with a robot arm uses a microcontroller as the core of control. The Hall sensors, ultrasonic sensors, and image sensor are used to detect the speed of the left and right wheels, obstacles, and the position of the object, respectively. Then, the sensor data are sent to the microcontroller. In addition, in this paper, the forward and reverse kinematics are used to derive the joint variables on the robotic arm and the PID controller to make the left and right wheels have constant speed, so that the mobile robot with a robotic arm can move freely indoors, avoid obstacles, and perform object movement functions.