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標題Title: Design of a DSP-based Office Robot
作者Authors: 王明賢,Xuan-Kun Lin..等
上傳單位Department: 電機工程系
上傳時間Date: 2009-11-16
上傳者Author: 王明賢
審核單位Department: 電機工程系
審核老師Teacher: 王明賢
檔案類型Categories: 論文Thesis
關鍵詞Keyword: Two-wheel robot, fingerprint detection, frequency zone-based method.
摘要Abstract: This paper aims at the design and implementation of a DSP-based two-wheel robot. We intend the robot to deliver mails and packs point to point along the specified route. Therefore, a fingerprint detection circuit is first considered for delivery security. Secondary, in order to prevent it from coming into collision with people and obstacles on the path, multiple infrared sensors and human body temperature sensors are used along the circumference of the robot.
Two brushless dc motors are employed to drive the wheels and sequentially control direction. A DSP-based drive is designed to generate the pulse-width modulation (PWM) signals of the voltage source inverter (VSI). An extension of the frequency zone-based method is employed to decouple the multiple tuning gains in a multi-loop control system so that the proportional gain and integral gain may be adjusted individually. Finally, a video file will demonstrate the scenarios.

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2009_11_313e7617.doc 1079Kb doc 554 230
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