全向移動機器人為一種特殊之輪式機器人，具有可任意在平面上移動而不需改變其姿態的優點。本論文旨在推導出全向移動機器人之動態數學模型，針對此模型利用計算轉矩(computed torque)控制法則消除系統之非線性項，並結合PID控制法則設計軌跡追蹤控制器。控制器的實現是以數位信號處理器(digital signal processor, DSP)為基礎，使用德州儀器公司所生產之定點式數位信號處理器，型號為TMS320F2812。在周邊電路的部份，使用Altera公司生產之Cyclon系列的FPGA設計了QEP (quadurature encoder pulse)電路，作為接收馬達編碼器回授信號的介面。實作方面以C語言來實現所有控制演算法，透過DSP控制板來提供系統控制力的運算及輸出，再搭配PWM驅動電路驅動直流馬達帶動全向移動機器人完成路徑追蹤的控制目的。由模擬與實驗結果顯示，所完成之控制系統可達到軌跡追蹤之目的。

The omnidirectional mobile robot is a special type of wheeled robot. It has an advantage of moving arbitrarily on a flat surface without changing its pose. In this study, the dynamic model of the omnidirectional mobile robot is derived. In controller design, the computed torque control law is designed to cancel the nonlinear terms of the system. Then the PID controller is used for trajectory tracking control. The implementation of the controller is based on a digital signal processor (TMS320F2812) produced by Texas Instruments. The FPGA device produced by Altera is used to implement the QEP (quadurature encoder pulse) circuits. The QEP circuits are use to be an interface for receiving the signals from the encoders set on the motors. In the experiment, the control law is implemented on a digital signal processor using C language. The DC motors are driven by the PWM driver board. The simulation and experimental results are provided to show the effectiveness of the control system.

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