本研究依據RoboCup小型機器人足球比賽的規格，設計一套全方位移動機器人系統，包含了機器人機構設計、驅動電路設計、與機器人的運動控制器設計。首先，針對近幾年本實驗室所設計的機器人做機構上的改良設計，包含持球機構與射門機構，以及新車體的設計。其次，針對近幾年機器人驅動機構的趨勢，設計全方位移動機器人。並且推導全方位移動機器人的動態方程式，用以設計機器人運動控制器。最後，以8051設計機器人的驅動電路板。整合的系統在RoboCup規格的球場上進行機器人測試，結果顯示符合預期的設計功能。 In this thesis, an omni-directional soccer robot system is designed based on the regulation of RoboCup small-size league, which includes design of mechanism, driving circuit, and motion controller. First of all, the dribbling and kicking mechanisms of soccer robots designed in last few years in this laboratory are improved, and also remodeled the body. Secondly, it devises an omni-directional robot to follow the trend of driving mechanism of robotics. The dynamic equations of the omni-directional robot are also derived, and then a PID motion controller is designed based on these dynamic equations. Finally, it uses 8051 to sketch the driving circuit of the robot. The integrated system is tested on a RoboCup soccer field, and the results conform to the expected functions.
