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1、碩士學位論文D i .s s e r t a t i o nf o r M a s t e r D e g r e e i nE n g i n e e r i n gC o n t r o l S y s t e m D e s i g n f o r S p h e r i c a lR o v e rZ e r i g u i A m e l賂麗癜歹棠大學H a r b i n I n s t i t u t e o f T e
2、c h n o l o g yH a r b i n I n s t i t u t eo f T e c h n o l o g yM a s t e rD e g r e e T h e s i sI n t r o d u c t i o nD e s i g na n dc o n t r o lam o v i n g r o b o th a sb e e nq u e s t i o n e di n r e c e n
3、tt i m e sd u et o i n c r e a s i n g c o D _ c e r n i n s p a c e e x p l o r a t i o n .F o rt h a tr e a s o n ,t h e d e s i g na n d c o n t r o l o f m o v i n g r o b o t h a s b e c o m e o f p a r t i c u l a
4、r i n t e r e s t t o o u rl a b o r a t o r y .P e r h a p si s t h es p h e r i c a la r g u e d t o d e s i g nt h es p h e r i c a lr o b o t .T h i st h e s i sd e s c r i b e st h e c o n t r o ld e s i g na n di m
5、 p l e m e n t a t i o no fs p h e r i c a lr o b o t c o n t r o ls y s t e m 。T h e r o b o ti nq u e s t i o n “s p h e r i c a l ’’h a sb e e nd e s i g n e d a n db u i l t i n o u r l a b o r a t o r y a t H a r b
6、i n I n s t i t u t e o f T e c h n o l o g y .T h e d e s i g np r e s e n t e di n t h i st h e s i sc o n s i s t so f a c o n t r o l l e rb o a r dc o n t r o l l i n ga s p h e r i c a lr o b o t .T h er o b o ti s
7、 t ob ek n o w n a sa M o b i l eR o b o t i cV e h i c l e .I ti sr e q u i r e dt ob el a r g ee n o u g ht os u p p o r tf u t u r ea t t a c h m e n t s .T h es p h e r i c a lr o b o ti sab a l lt h a tr o l l sf r
8、e e l yo n t h ef l o o r [ 1 I ,a n dc a n r e a c ha n ya r b i t r a r yp o s i t i o nt h e r e i na n d o r i e n t a t i o n.T h e a i m o f t h i s p r o j e c t i s t o d e s i g n a n d c o n s t r u c t as p h
9、e r i c a l r o v e r ,s u i t a b l ef o ro p e r a t i o ni nt h es p a t i a le n v i r o n m e n te s p e c i a l l yl u n a r s u r f a c e .T h es e c o n d a i m i s t o s t u d y t h e n o n h o l o n o m i c s y
10、 s t e m .T o a c h i e v e t h e s e t w oo b je c t i v e s ,b o t h m e c h a n i c a l a n d e l e c t r o n i c d e s i g n s k i l l s a r e n e c e s s a r yc o m b i n e d w i t h t h e a b i l i t y t o a s s e
11、m b l e t h e t w o t o c o n s t r u c t t h e f i n a lm e c h a t r o n i c s d e v i c e .T h i st h e s i si s p r e s e n t e di nt h ef o l l o w i n g m a n n e r :C h a p t e rO n ep r o v i d e s a ni n t r o d
12、 u c t i o n ,t h eo v e r v i e wo f t h el u n a rr o v e r ,a n dt h eb a c k g r o t m do f t h es p h e r i c a lr o b o t ,C h a p t e r T w od e f i n e s t h e N o n h o l o n o m i c s y s t e m ,t h e k i n e m
13、 a t i c s a n d t h ed y n a m i c sA n a l y s i s o f t h er o b o t .C h a p t e rT h r e eO u t l i n e st h eh a r d w a r er e q u i r e m e n t so f t h es p h e r i c a lr o b o ta n dc o n t a i n s t h ec o n
14、t r o ls y s t e mo f t h er o v e r .I na d d i t i o n ,i tp r o v i d e st h ed e f i n i t i o no f t h em a x o n m o t o r a n d s o m e c o m p o n e n t su s e di nt h i sp r o j e c t .C h a p t e rF o u r D e t
15、 a i l st h ea l g o r i t h m sa n dt h es o f t w a r eo f t h es y s t e ma n dt h ep r i n c i p a l f u n c t i o n .F i n a l l y I c o n c l u d et h i s w o r kw i t hs o m ep h o t o ss h o w i n gh o w t h er o
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