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.
關聯:
Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
