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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/112686

    Title: Intelligent control for a dynamically stable two-wheel mobile manipulator
    Authors: Wei-Fu Kao, Chun-Fei Hsu, and Tsu-Tian Lee
    Keywords: two-wheel mobile manipulator;balancing control;steering control;dual-arm manipulators;image processing
    Date: 2017-06-27
    Issue Date: 2018-02-03 02:10:51 (UTC+8)
    Abstract: This paper presents the designing for a
    dynamically stable two-wheel mobile manipulator (DSTMM)
    with web camera to make it a more home-service robot. This
    paper proposes a balancing control system, which comprised of
    an angle controller and a position controller, for the balancing
    and position control of the DSTMM robot. A yaw controller is a
    compensated speed control signal to add into the right or left
    driving wheels. This results in both the wheels moving at
    different speed such that the DSTMM robot can rotate. In the
    hardware implement, this paper uses two development boards.
    One is the Arduino Mega 2560 and the other is the Raspberry Pi
    2. The Arduino Mega 2560 development board is used to
    implement the intelligent control scheme and the Raspberry Pi 2
    development board is used to handle the related image
    processing. Finally, the real-time experimental results show that
    the DSTMM robot can authenticate both in the quality of the
    balance and steering controller systems and can move to proper
    position and pick up the objects with the dual-arm manipulators.
    Relation: Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
    DOI: 978-1-5090-4917-2/17
    Appears in Collections:[電機工程學系暨研究所] 會議論文

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