本論文之動機為設計一個機器人硬體控制平台，利用場效可規劃邏輯陣列(FPGA)晶片及Verilog 硬體描述語言來實現運動控制電路控制介面模組、馬達位置閉迴路PID控制以及RS232通訊模組等。本研究使用階層式與模組化的方法，以簡化電路設計及易於驗證。利用此硬體平台，本文實現一個由十個伺服馬達以及兩個直流馬達所組成的輪型機器人之控制系統，並以預先建立的動作，讓機器人做一連串交通指揮的組合動作。

The motivation of this thesis is to design a robot control hardware platform by using the Field Programmable Gate Array chip and the Verilog hardware description language to realize motion control interface circuits, motor position closed loop PID control as well as RS232 communication module. Hierarchical structure and modulization method is adapted to simplify the circuit design and easy to verification. Using this robot hardware platform, we realize a wheeled robot system which is consist of by ten servo motors as well as two DC motors, and design a scenario for the robot making a succession of hand guidance traffic control gestures.

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