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Development of the MyRio Based Mobile Platform
The paper develops the MyRio based mobile platform with a robot arm. The structure of the mobile platform uses
the Matrix elements. The Matrix elements build the robot arm with four degrees of freedoms, too. The mobile
platform integrates some sensors, four DC servomotors, two DC motors, two RC servomotors, a MyRio based
control box, and two vision devices. The core controller of the MyRio-1900 control box is the NI-Single-Board
RIO 9606 module. The mobile platform embeds a robot arm on the frond side. The driver device of the gripper is a
RC servomotor. The developed mobile platform uses ultrasonic sensors to detect the obstacles.
Trapezoidal acceleration and deceleration algorithm and Proportional-Integral-Derivative (PID)
algorithm are used for precise motion control of each DC servomotor. A vision device of the mobile
platform can search and recognize the shape and color of the assigned billiard ball. The other recognizes the symbol
of each QR code. These vision devices are fixed on the frond side of the mobile platform, and recognize the
assigned object using Otsu algorithm. In the experimental results, the mobile platform tests the positioning function
of the Proportional-Integral-Derivative (PID) algorithm for each DC servomotor. Then we implement the
movement precious of the mobile platform.