The Design and Implementation of Multiple Networked Motor Control Modules for Interactive Dynamic Sculpture

論文翻譯標題: 應用於互動式動態雕塑之聯網型多馬達控制模組之設計與實作
  • 李 柏岳

學生論文: Master's Thesis

摘要

The main purpose of the research is to allocate the balls controlled by motors into a pre-designed dynamic pattern and to interact with human In order to reach this goal several attempts were made to build the system which includes an introduction of a man-machine interaction system and an improved motor control accuracy Typical problems with such interactive systems for multiple motors include inaccuracy of motors delay in transmission inaccuracy of motion detection and even a prolonged response time of motors These problems may contribute to an unsatisfactory user experience or an unstable pattern demonstration Therefore a modified interactive system for multiple motors was proposed The system was designed in a way that makes it able to demonstrate a dynamic pattern-running system and interact with human (satisfactory user experience expected) under same structure and the system must be capable of extending easily To reach such goals several improvements were made in the thesis: 1 Initialization design that enables operators to increase the number of slave boards easily 2 An algorithm to predict users’ joint movements allowing the motor to adjust accordingly Otherwise the code of the system was written in a way that minimizes the future need for modification should a change to the hardware takes place The system adopts 32 stepper motors 3 Microchip? PIC18F4580 demo boards 8 NXP Semiconductors? 74HC595 shift registers 32 Allegro MicroSystems? A4988 microstepping driver and a Microsoft? Kinect In interaction mode Kinect records users’ joint movements and send the results to the master board These data will be analyzed and send to slave boards Each board is connected by CAN bus The communications between PIC18s and 74HC959s are through SPI In pattern-running mode the patterns are stored in the master board or PC and the periodically recorded data are dispatched to slave boards The experiment results are shown in algorithm evaluation which is calculated based on the score given by participants after double-blind tests
獎項日期2015 二月 17
原文English
監督員Chung-Ping Young (Supervisor)

引用此

The Design and Implementation of Multiple Networked Motor Control Modules for Interactive Dynamic Sculpture
柏岳, 李. (Author). 2015 二月 17

學生論文: Master's Thesis