Diverting and Sorting Mobile Robotic Table for Motion Control Testing

This article is about the design and construction of a Diverting and Sorting mobile robot table for testing motion control techniques, the robot consists of nine modules with two degrees of freedom each one in three times three matrix configuration; a table with dual rack gear track in bottom move between modules, combined control of each module allows the transport of objects. Computer vision techniques are employed in this case a Pinhole camera model for detection and location of the carry objects. Each of the characteristics of the design and construction of the parts that form the mechanical system are explained in detail. The table design includes high quality and low-cost materials. At finally, the robotic table is verified with different techniques of control, for example follower desired path. The result shows a difference between the real path and the desired path that will be calculated under the quadratic error function.