Design and Development of a Compound Mobile Serial Robot with Remote Control Application

The design of a compound mobile serial robot controlled remotely by a C# program utilizing the MQTT (Message Queuing Telemetry Transport) protocol is the main topic of this thesis. The robot is powered by a Raspberry Pi. The advantages of mobility and serial manipulators are combined in the compound mobile serial robot, allowing it to carry out difficult tasks in a variety of settings. As the main computer, the Raspberry Pi gives the robot and its control application connectivity and processing capability. Data interchange and command execution are made possible by the integration of the MQTT protocol, which guarantees effective and dependable connection between the robot and the control system. The integration of the MQTT protocol, hardware components, mechanical design, kinematic and dynamic analysis of the robot, and software implementation are all investigated in this study. This thesis intends to stimulate additional ideas in the field of intelligent and remotely operated robotic systems by utilizing the capabilities of Raspberry Pi and MQTT. For the protocol implementation, a 4 DoF serial arm and the mobile station connected to it were designed with mechanical design and prototype production was made, additionally direct and inverse kinematics of the robot arm has automatized with the C# WinForm application, thanks to this developed application, robot arm control was fully automatized and controlled. The thesis has demonstrated a novel applicacation of the protocol to a compound mobile serial robot, only there is no video for both mobile and serial robot arm working at the same time. Keywords: Compound