Object Moving System of Four-wheel Mobile Vehicle with Mechanical Arm

Sheng Pin Kuo, Kun Yu Tsai, Yih Guang Leu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A four-wheel mobile vehicle with a robotic arm is developed. The robotic arm has three degrees of freedom, and it possesses two revolute joints, one prismatic joint, and a claw end device. The four-wheel mobile vehicle is composed of two DC motors with two Hall sensors. In this paper, the robotic arm is integrated into the four-wheel mobile vehicle. The main system control kernel is a microcontroller and PID controllers. Also, the mobile robot uses image recognition to identify the coordinates of the desired object in order to manipulate the robotic arm to grasp and carry the object. Finally, the trajectory and arm movement of the robot are verified by some experiments in order to present the effectiveness of this design.

Original languageEnglish
Title of host publication2020 International Automatic Control Conference, CACS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728171982
DOIs
Publication statusPublished - 2020 Nov 4
Event2020 International Automatic Control Conference, CACS 2020 - Hsinchu, Taiwan
Duration: 2020 Nov 42020 Nov 7

Publication series

Name2020 International Automatic Control Conference, CACS 2020

Conference

Conference2020 International Automatic Control Conference, CACS 2020
Country/TerritoryTaiwan
CityHsinchu
Period2020/11/042020/11/07

Keywords

  • four-wheeled vehicle
  • image recognition
  • PID control
  • robotic arm

ASJC Scopus subject areas

  • Artificial Intelligence
  • Automotive Engineering
  • Industrial and Manufacturing Engineering
  • Control and Systems Engineering
  • Control and Optimization
  • Modelling and Simulation

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