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
N1 - Publisher Copyright:
© 2020 IEEE.
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 - PID control
KW - four-wheeled vehicle
KW - image recognition
KW - robotic arm
UR - http://www.scopus.com/inward/record.url?scp=85099744756&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85099744756&partnerID=8YFLogxK
U2 - 10.1109/CACS50047.2020.9289797
DO - 10.1109/CACS50047.2020.9289797
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 -