Integration of Hardware and Software Designs for Object Grasping and Transportation by A Mobile Robot With Navigation Guidance via a Unique and Elegant Design of Bearing Alignment Mechanism

Abstract

In this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The work is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, the HCC is low-cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is perfectly and tightly incorporated with the designed HCC in an event-triggered manner and the unique design of bearing alignment mechanism. The particular contribution is the tight integration of the heuristic software algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.

Path planning and obstacle avoidance of multi-robotic system in static and dynamic environments

“…The proposed technique uses infrared sensors and ground sensors for mapping the environment. Li et al 4 have presented bearing- alignment mechanism with integration of hardware and software design for transportation. This integration includes a guidance system for transportation and sensors-based detections for mobile robot navigation.…”

Practical Position Tracking Control of a Robotic Manipulator Based on Fractional Order Sliding Mode Controller

“…Robots, one of the most promising technologies, have been extensively used in many industrial areas such as manufacturing assembly [1], medical operations [2], drilling [3], transportation [4] and so on. However, the main areas of research in the field of robotic manipulators can be summarized as robotic manipulator design [5], optimum trajectory planning for industrial manipulators [6], [7], and robot manipulator control.…”