Intelligent control for a dynamically stable two-wheel mobile manipulator

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.

[1]  Li-Xin Wang,et al.  A Course In Fuzzy Systems and Control , 1996 .

[2]  Chih-Hui Chiu,et al.  Real-time control of a wheeled inverted pendulum based on an intelligent model free controller , 2011 .

[3]  Wen-June Wang,et al.  Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum , 2011, IEEE Transactions on Industrial Electronics.

[4]  S. A. A. Moosavian,et al.  Stabilized supervising control of a two Wheel Mobile Manipulator , 2013, 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM).

[5]  Jian Huang,et al.  Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems , 2010, IEEE Transactions on Robotics.

[6]  Jun Luo,et al.  Adaptive Robust Dynamic Balance and Motion Controls of Mobile Wheeled Inverted Pendulums , 2008, IEEE Transactions on Control Systems Technology.

[7]  Shin'ichi Yuta,et al.  Baggage Transportation and Navigation by a Wheeled Inverted Pendulum Mobile Robot , 2009, IEEE Transactions on Industrial Electronics.

[8]  T. Ross.  Fuzzy Logic with Engineering Applications , 1994 .

[9]  Alfred C. Rufer,et al.  JOE: a mobile, inverted pendulum , 2002, IEEE Trans. Ind. Electron..

[10]  Kaustubh Pathak,et al.  Velocity and position control of a wheeled inverted pendulum by partial feedback linearization , 2005, IEEE Transactions on Robotics.

[11]  Chih-Hui Chiu,et al.  Robust intelligent backstepping tracking control for wheeled inverted pendulum , 2011, Soft Comput..

[12]  Shui-Chun Lin,et al.  Adaptive Neural Network Control of a Self-balancing Two-wheeled Scooter , 2007, IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society.

[13]  Toshiyuki Murakami,et al.  Vibration Suppression of Two-Wheel Mobile Manipulator Using Resonance-Ratio-Control-Based Null-Space Control , 2010, IEEE Transactions on Industrial Electronics.

[14]  Chun-Fei Hsu,et al.  Self-regulating fuzzy control for forward DC-DC converters using an 8-bit microcontroller , 2009 .

[15]  Tzuu-Hseng S. Li,et al.  Optical image stabilizing system using fuzzy sliding-mode controller for digital cameras , 2012, IEEE Transactions on Consumer Electronics.

[16]  Fumitoshi Matsuno,et al.  Sliding-Mode Control for Transformation to an Inverted Pendulum Mode of a Mobile Robot With Wheel-Arms , 2015, IEEE Transactions on Industrial Electronics.