Design of a Vision-Based Multi-Domain Manipulator Intelligent Vehicle

Abstract

Aiming at the problems of single control mode, weak module communication compatibility, and insufficient motion control accuracy of manipulators in traditional intelligent mobile robots, a four-degree-of-freedom (4-DOF) manipulator intelligent operation vehicle platform with STM32 as the main controller is designed. By building a customized serial communication protocol adapted to multiple peripherals, stable data interaction between the main controller and voice, Bluetooth, and vision modules is achieved. A kinematic model of the 4-DOF manipulator is established using the D-H coordinate system, and angle discretization matching is completed combined with forward and inverse kinematic control modes. The system realizes functions such as real-time vision feedback, coordinated control of vehicle movement and manipulator grasping. The test results show that the system communication is stable without packet loss, the discrete angle positioning error of the manipulator is small, and the system runs reliably, which can meet practical operation requirements such as household material transportation and narrow space inspection.