本論文首先提出一個快速的全方位移動控制演算法，其可以改善目前大多數全方位移動機器人之運動控制演算法需要透過電腦主機做大量運算以及難以用數位邏輯電路加以實現的缺點。本論文以向量、合力、三角函數、浮點數運算轉換等數學原理，提出一個從指令接收到做出判斷僅需要一個工作時脈(clock)之高速運算的全方位移動控制演算法，所提方法可以很容易地用硬體描述語言VHDL (VHSIC Hardware Description Language)設計並且實現於FPGA (Field Programmable Gate Array)晶片中。在所提方法的應用上，本論文藉由三個全方位輪(Transwheel)以及三輪底座機構的設計，同時採用高效能減速齒輪箱、馬達回授訊號分析、PWM速度調變產生器等設計實現一個全方位移動機器人(Omni-directional Mobile Robot)，使機器人可以做出任意角度前後左右平移或在移動中進行轉動等動作。此外，本論文提出一個不需要使用任何市面上販售的USB OTG (Universal Serial Bus On-The-Go)協定處理器晶片，即可控制USB搖桿的矽智財(Silicon Intellectual Property; SIP)，並且整合其他IP以VHDL實現於FPGA晶片中。本文以USB裝置之兩條訊號線C+與C-的差動方式，配合使用NRZI (Non-Return to Zero Inverted)與位元填塞 (Bit-stuffing)等編解碼方法來傳遞資料。最後，本論文實現一個 RS232無線通訊系統，讓操作者可以透過無線傳輸模組以USB搖桿來遙控全方位移動機器人，進而實現一個具有四個USB搖桿之遠端遙控遊戲平台來驗證所提方法確實可以做一個完整的實際應用。 In this thesis, a quick omni-directional mobile control algorithm is first proposed. It can improve the disadvantages that most motion control algorithms for the omni-directional mobile robots need a huge operation through the computer and are hard to be realized by using the digital logic circuit. The concepts of vectors, resultant of forces, trigonometric functions, and floating point arithmetic are applied to design this omni-directional mobile control algorithm that needs only one working clock form getting a command to output its result. This high-speed algorithm can be easily to be designed by using VHDL (VHSIC Hardware Description Language) and implemented on a FPGA (Field Programmable Gate Array) chip. In the application of the implemented FPGA chip, three omni-directional wheels (Transwheel), three-wheeled mechanism, three high efficiency gear boxes, a PWM speed modulation generator, and motor feedback signal analysis are applied to implement an omni-directional mobile robot so that the robot can move in any direction and rotate as moving. Furthermore, a SIP (Silicon Intellectual Property) and the other IP are designed to control USB joysticks by using VHDL and implemented on a FPGA chip so that we don’t need any USB OTG (Universal Serial Bus On-The-Go) protocol processor chip. The USB signal lines C+ and C- by differential action and the coding style of “NRZI (Non-Return to Zero Inverted)” and bit-stuffing are applied to transmit data. A RS232 wireless communication system is implemented so that the operator can use an USB joystick to control the omni-directional mobile robot through a wireless communication module. Finally, a remote controlled game platform by four USB joysticks is implemented to verify that the proposed methods indeed can be applied practically and completely.
