Intelligent control for a dynamically stable two-wheel mobile manipulator

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.