Intelligent control for a dynamically stable two-wheel mobile manipulator

doi:10.1109/IFSA-SCIS.2017.8023233

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 會議論文 > Item 987654321/112686

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题名:	Intelligent control for a dynamically stable two-wheel mobile manipulator
作者:	Wei-Fu Kao, Chun-Fei Hsu, and Tsu-Tian Lee
关键词:	two-wheel mobile manipulator;balancing control;steering control;dual-arm manipulators;image processing
日期:	2017-06-27
上传时间:	2018-02-03 02:10:51 (UTC+8)
摘要:	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
DOI:	10.1109/IFSA-SCIS.2017.8023233
显示于类别:	[電機工程學系暨研究所] 會議論文

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