In order to adapt to the complex industrial environment,a multi-function compound robot using STC8A series MCU as the control core is designed.By analyzing the motion model of four-wheel omnidirectional mobile robot.the deviation coupling control and fuzzy PID control algorithm are constructed to improve the stability of the mobile platform of the robot.The tracking and OpenMV OV9650 image recognition modules are used to identify the AprilTag information,so as to realize robot cruising and accurate grasping and operation of materials.Test result shows that the designed composite robot has good stability and can complete the grasping work well.
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