本論文係討論居家服務型機器人之移動平台與手臂運動控制器設計。首先描述機器人的硬體架構設計，本機器人為一個高135公分、40公斤，具有一雙6個自由度的機器手臂與移動平台的居家服務機器人。文中將移動平台控制與手臂運動控制分別討論，其所用致動器分別為裝備有光學編碼器的直流馬達與DYNAMIXEL所製造的伺服馬達。在移動平台中，可藉由編碼器計算出直流馬達所轉角度，並結合馬達控制器與人機介面，以核心處理器NIOS FPGA與SOPC發展介面為中心，發展出一個強健的模糊控制移動平台。在手臂方面，使用運動學與逆運動學之幾何方法推算機器手臂的運動模型，將已知的手臂位置與姿態換算成各個對應關節所需角度，並藉由手臂軌跡控制器產生控制命令，以達成機器手臂的目標追蹤控制行為。最後，由實驗結果來驗證所設計之機器手臂與移動平台控制系統的效益。

This thesis mainly explores the control of the motion platform and the manipulation of a home service robot. First, the hardware architecture is described. This home service robot with 135 cm height and 40 kg weight, has a pair of 6-DOF (degree of freedom) robot arm and a motion platform.
This thesis presents the motion platform driven by DC motors equipped with optical encoders and the robot arms consist of the servo motor manufactured by DYNAMIXEL. In motion platform, the angle of the rotation, motor controller and the graphic user interface are combined to implement a robust fuzzy control motion platform system. Besides, the NIOS is used as a central processor unit and a development interface is utilized to construct a control strategy generated system. For the robot arm control, to use the kinematic and the geometrical inverse kinematic analysis, we can derive a mathematic algorithm which transforms the arm position and posture to the joint angles of the corresponding rotary joint. Furthermore, we develop a trajectory strategy controller to command and track the destination movements. Finally, the experimental results illustrate the feasibility of the proposed system.

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