For Object Detection, the single board Computer Raspberry Pi is used. Moreover, some additional features, such as Speech Recognition and Object Detection, are added. This will enable the robot to know the exact location of every stationary object in the enclosure. But the proposed algorithm here can al so locate the position of other objects in an enclosure, like furniture, tables etc. Almost all of the earlier template matching algorithms that can be found in the open literature can only trace the robot. The navigation system needs to be calibrated before navigation process starts. As for the navigation in an enclosure, template matching algorithm is proposed for precise measurement of the robot position. The controller is developed primarily for self-balancing of the robot and also it’s positioning. Simulation is performed in the SIMULINK environment. In this paper, we have discussed the design of two of the main controller algorithms, namely PID algorithms, on the robot model. This paper is aimed to discuss modeling, construction and development of navigation algorithm of a two wheeled self balancing mobile robot in an enclosure. Finally the performance of SCARA system is examined in Pro-E and verified manipulators movement with MATLAB/Simulink which exhibits the effectiveness of the proposed model. The main task was to use readily available components with an eye on keeping the costs down. The selection of the actuators and the dimensions of the whole mechanical structure are selected in such a way to direct its center of gravity towards base and also reduce the vibration and backlash in its mechanical structure. The design process includes the design of joints, links and controller as well as the selection of its electrical and mechanical components. Inverse kinematic equations are also derived using algebraic and geometric method to control the manipulator movement. This research demonstrates mechanical design process of an economical SCARA manipulator with unique and competing industrial specifications using Pro-E software. SCARA (Selective Compliance Assembly Robot Arm) manipulators are among the most extensively used manipulators in industry due to high precision and their inherent rigidity.
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