本文主要應用SOPC技術研發具雙臂互動策略之人型機器人運動控制系統，在此系統的控制晶片內可概分為兩部分，第一部分是在晶片內以數位硬體電路實現訊號擷取與輸出控制訊號之功能，其中包含光學編碼器信號偵測、四倍頻解碼電路、極限開關訊號偵測與脈波寬度調變信號輸出等。第二部分則是在Nios II微處理器內以軟體方式實現控制動作，其功能有運動學之計算、空間中點對點運動控制、連續運動軌跡計算、雙臂互動策略之運動控制與模糊滑動模式控制器等。系統晶片採用美商ALTERA公司生產的Stratix II EP2S60F672C3N現場可程式邏輯閘陣列（FPGA），在系統晶片內之硬體部分使用Verilog HDL撰寫；軟體部分則使用C程式語言撰寫。最後，本論文整合了Nios II發展版、雙臂機器人和直流馬達驅動電路等，對各軸之步階響應、空間中多軸同動之點對點軌跡規劃及雙臂互動策略進行一連串的實驗，經由實驗結果可驗證本文所設計的系統晶片之有效性與正確性。

A motion control for the interactive strategy of dual arms robotic system using SOPC technology is presented in this thesis. In the proposed strategy of motion control, it can be divided into two parts. One is implemented by hardware circuit. It includes quadrature encoder pulse process, limit switches detect, and pulse width modulation generators. The other is implemented by software using Nios II micro processor. Its functions are kinematics of dual arms robot, point to point motion control, continuous motion trajectory calculates, motion control of interactive strategy of dual arms, and fuzzy sliding mode control. The FPGA chip adopts ALTERA Stratix II EP2S60F672C3N as the development board. The digital hardware circuits are designed by Verilog HDL and programs in Nios II micro processor is coded in C language. Finally, an experimental system integrates Nios II development board, dual arms robot, and DC motor drivers. Then, this thesis executes a series of experiments, which include step response of each joint, point to point motion trajectory control, and interactive strategy of dual arms. The experimental results have been provided and demonstrated the effectiveness and correctness of the proposed dual arms robotic system.

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