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

Sheng Pin Kuo; Kun Yu Tsai; Yih Guang Leu

doi:10.1109/CACS50047.2020.9289797

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

Sheng Pin Kuo, Kun Yu Tsai, Yih Guang Leu^*

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	2020 International Automatic Control Conference, CACS 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728171982
DOIs	https://doi.org/10.1109/CACS50047.2020.9289797
Publication status	Published - 2020 Nov 4
Event	2020 International Automatic Control Conference, CACS 2020 - Hsinchu, Taiwan Duration: 2020 Nov 4 → 2020 Nov 7

Publication series

Name	2020 International Automatic Control Conference, CACS 2020

Conference

Conference	2020 International Automatic Control Conference, CACS 2020
Country/Territory	Taiwan
City	Hsinchu
Period	2020/11/04 → 2020/11/07

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

Access to Document

10.1109/CACS50047.2020.9289797

Cite this

Object Moving System of Four-wheel Mobile Vehicle with Mechanical Arm. / Kuo, Sheng Pin; Tsai, Kun Yu; Leu, Yih Guang.
2020 International Automatic Control Conference, CACS 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9289797 (2020 International Automatic Control Conference, CACS 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kuo, SP, Tsai, KY & Leu, YG 2020, Object Moving System of Four-wheel Mobile Vehicle with Mechanical Arm. in 2020 International Automatic Control Conference, CACS 2020., 9289797, 2020 International Automatic Control Conference, CACS 2020, Institute of Electrical and Electronics Engineers Inc., 2020 International Automatic Control Conference, CACS 2020, Hsinchu, Taiwan, 2020/11/04. https://doi.org/10.1109/CACS50047.2020.9289797

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title = "Object Moving System of Four-wheel Mobile Vehicle with Mechanical Arm",

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. ",

keywords = "four-wheeled vehicle, image recognition, PID control, robotic arm",

author = "Kuo, {Sheng Pin} and Tsai, {Kun Yu} and Leu, {Yih Guang}",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 International Automatic Control Conference, CACS 2020 ; Conference date: 04-11-2020 Through 07-11-2020",

year = "2020",

month = nov,

day = "4",

doi = "10.1109/CACS50047.2020.9289797",

language = "English",

series = "2020 International Automatic Control Conference, CACS 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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TY - GEN

T1 - Object Moving System of Four-wheel Mobile Vehicle with Mechanical Arm

AU - Kuo, Sheng Pin

AU - Tsai, Kun Yu

AU - Leu, Yih Guang

PY - 2020/11/4

Y1 - 2020/11/4

N2 - 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.

AB - 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.

KW - four-wheeled vehicle

KW - image recognition

KW - PID control

KW - robotic arm

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M3 - Conference contribution

AN - SCOPUS:85099744756

T3 - 2020 International Automatic Control Conference, CACS 2020

BT - 2020 International Automatic Control Conference, CACS 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 International Automatic Control Conference, CACS 2020

Y2 - 4 November 2020 through 7 November 2020

ER -

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

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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