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

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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題2020 International Automatic Control Conference, CACS 2020
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781728171982
DOIs
出版狀態已發佈 - 2020 十一月 4
事件2020 International Automatic Control Conference, CACS 2020 - Hsinchu, 臺灣
持續時間: 2020 十一月 42020 十一月 7

出版系列

名字2020 International Automatic Control Conference, CACS 2020

會議

會議2020 International Automatic Control Conference, CACS 2020
國家/地區臺灣
城市Hsinchu
期間2020/11/042020/11/07

ASJC Scopus subject areas

  • 人工智慧
  • 汽車工程
  • 工業與製造工程
  • 控制與系統工程
  • 控制和優化
  • 建模與模擬

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