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

Abstract

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.