教師資料查詢 | 類別: 會議論文 | 教師: 許駿飛 Hsu, Chun-Fei (瀏覽個人網頁)

標題:Intelligent control for a dynamically stable two-wheel mobile manipulator
學年105
學期2
發表日期2017/06/27
作品名稱Intelligent control for a dynamically stable two-wheel mobile manipulator
作品名稱(其他語言)
著者Wei-Fu Kao, Chun-Fei Hsu, and Tsu-Tian Lee
作品所屬單位
出版者
會議名稱Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
會議地點Otsu, Japan
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.
關鍵字two-wheel mobile manipulator;balancing control;steering control;dual-arm manipulators;image processing
語言英文(美國)
收錄於
會議性質國際
校內研討會地點
研討會時間20170627~20170630
通訊作者
國別日本
公開徵稿
出版型式
出處Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
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