Self-balancing Control and Manipulation of a Glove Puppet Robot on a Two-wheel Mobile Platform
| Autor: | Sun, Guan-Cyun, 孫冠群 |
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| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 97 The glove puppet is the traditional culture in Taiwan. The master puppeteer manipulates the glove puppets and brings each animated puppet character to life. We make a glove puppet robot called “X-Puppet” which can be manipulated by a data glove like a real glove puppet. The data glove has five Piezoelectric Film sensors, one gyro, one tilt, and one microcontroller. It measures the gesture data, translates it into the motion of the robot and controls the robot immediately. And we mount this 9-DOF mechanism, which mimicking a glove puppet manipulation, on a two-wheel mobile platform. The platform provides agile movements of the robot but itself is an unstable system. Hence, a self-balancing controller is implemented by considering the motion as well as configuration variation of the upper body (the 9-DOF mechanism). The control law utilizes the principle of computed torque method with online identification of related parameters using various sensors including an accelerometer. The incline angle is obtained by fusing a gyroscope and a tilt sensor. Under the balancing control, the forward motion of the robot is achieved by giving a desired tilt angle profile. To minimize the footprint of electronics, the controller is implemented using an 8-bit single-chip microcontroller. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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