Application and Implementation of the Motion Control for Two-Wheel Mobile Robots
| Autor: | Yen-Jen Chen, 陳彥任 |
|---|---|
| Rok vydání: | 2018 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 This thesis explores the implementation and application of a two-wheel mobile robot (TWMR) with vision and robotic arms. Since the robot is driven by two independent motors, it can be regarded as an unstable nonlinear actuated system. Therefore, a motion control law based on the proportional differential controller is proposed for the stabilization of TWMR. In addition, in order to achieve the recognition and tracking of the object, a wireless IP camera is installed on the TWMR to capture the image and transfer the captured image to computer for further image processing. For the control problem of robot arm, a controller is proposed to control the robot arm for fetching the object. Lastly, the experimental results show that the developed TWMR can move to the target position and drive the robot arm to fetch the object. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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