本論文之研究在於實現立方體機器人在三維動態空間中，透過控制器與機構的設計完成三維單點平衡站立的立方體倒單擺機器人。立方體機器人使用角動量與能量守恆原理對立方體機器人進行控制，機器人內部含有三組慣性輪、直流無刷馬達與制動裝置，並由STM32F429微控制器透過PWM訊號對馬達進行控制，將慣性輪高速旋轉後，再由制動裝置進行夾止，使得慣性輪旋轉的動能轉換為擺體跳起所需的位能，在擺體跳起並進入平衡可控範圍時，控制器將開始進行平衡控制，由上述程序完成彈跳平衡流程。負責平衡的控制器，由三個角度誤差PD控制器與兩個馬達轉速PI控制器結合，並引入順逆向運動學分析組成平行PID控制器。MPU6050負責提供姿態角參數給控制器，在獲得六軸參數後，先進行互補濾波器等訊號處理，再透過一階隆巨庫塔法將參數更新到四元數中，進行姿態演算法的運算並且轉換成較直觀的歐拉角表示，最後輸出給控制器進行平衡控制。在機構方面本論文採用PLA材質，由3D印表機所列印製成外殼、支架與負責夾止的制動裝置，制動裝置透過慣性輪兩側安裝煞車的推桿，對慣性輪進行有效的制動功能，使動能與位能能夠完整的轉換，其慣性輪以不鏽鋼製成，負責提供擺體控制平衡與彈跳的反作用力與慣性矩，而轉動慣性輪的馬達採用ID-549XW直流無刷馬達並且透過自帶的馬達光學編碼器訊號輸出給STM32便能獲取馬達轉速。最後由實驗結果證明本論文所設計的系統確實能夠實現三維單點自平衡的功能。

This thesis mainly discusses the balance of the cubic robot in the three-dimensional space. We derive the self-balancing controller based on the kinematic analysis and related parameters of the designed cubic robot in this thesis. Concerning the control of this system, this thesis uses the attitude and heading reference system (AHRS) to calculate the Euler angle and angular velocity of the robot body, and then applies this information for the PID controller design to maintain the balance of the robot body at corner point. As for balance, when the robot is subjected to external force or the robot is not at balance angle, the motor drives the inertia wheel generating a reaction force to push the robot body back to the balancing angle. Furthermore, according to the conservation of energy, when braking at high spinning speed, the inertial wheel can convert kinetic energy into potential energy to bounce the cubic robot up.

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