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 en_US
收錄於
會議性質 國際
校內研討會地點 無
研討會時間 20170627~20170630
通訊作者
國別 JPN
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
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/112686 )

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