本論文係探討保全防災機器人團隊之全方位軌跡追蹤運動控制。首先描述機器人硬體架構與四輪正交底座機構之設計，伺服系統主要是由馬達回授訊號作為軌跡追蹤之依據，並以NIOS為處理核心，負責資料擷取、介面溝通、計算及實現全方位移動系統軌跡控制演算法。本文利用逆運動學之幾何關係，推得機器人之輪速與姿態，再結合系統之動態模型，推導出完全運動方程式。
就控制方法而言，我們提出軌跡控制演算法，此演算法主要由全模糊邏輯控制器所構成，其包含了速度模糊邏輯控制器與位置模糊邏輯控制器。首先將狀態利用逆運動學關係轉成角速度，針對速度回授訊號作補償，再結合位置模糊邏輯控制器補償機器人之基本速度與移動角度，以實現全方位動態軌跡追蹤行為。最後，由實際實驗結果來驗證所設計之全方位軌跡追蹤控制系統的效益。

This thesis mainly confers the study of omni-directional trajectory motion control implemented by the SOPC system. In the hardware architecture, four mutual orthogonal omni-directional wheels are horizontally established on the plane of the chassis and four optical encoders are equipped with DC motors to read the data of angular velocity and compute the posture of the surveillance and security robot (SSR). By using inverse kinematics relationship, we can transform the angular velocity and the angle in the robot coordinate frame into the linear velocity and the absolute position in the world coordinate frame. Moreover, the complete equations of the motion of the SSR are also derived. The robot will track the desired trajectory which has been generated by the trajectory generation system. We present a fully-fuzzy trajectory tracking system which consists of a trajectory control algorithm (TCA) and a fuzzy logic controller (FLC). They can compensate for the errors of the velocity and regulate the errors of the position based on the dynamic model. After dealing with the information, the correct trajectory motion can be determined. Finally, the experimental results indicate that the proposed omni-directional trajectory control scheme can be successfully applied to the SSR.

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