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All Journal IAES International Journal of Robotics and Automation (IJRA)
Wildan, Juhen Fashikha
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Automotive Engineering Electrical & Electronics Engineering

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Multi-microcontroller system for Mecanum robots with gripper-shooter mechanisms Mareai, Mohammed; Wildan, Juhen Fashikha; Afkarean, Mochamad Ridho
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 2: June 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i2.pp181-190

Abstract

This study presents the design and implementation of a multi-microcontroller digital control system for a Mecanum-wheeled robot with gripper and shooter mechanisms, tailored for agricultural applications. The proposed system integrates an Espressif32 master controller with Arduino Nano slave microcontrollers, enabling precise control of robot movement and functional components. Wireless control is facilitated by a PlayStation 3 controller, while Mecanum wheels ensure omnidirectional mobility in dynamic environments. Experimental results indicate a 66.67% success rate in seedling planting and an 83.33% success rate in ball collection tasks. Despite its notable performance, enhancements in sensor feedback and automation are recommended to improve efficiency. This research underscores the potential of cost-effective, multi-microcontroller systems for advancing real-time control and task execution in agricultural robotics.
Co-Authors Afkarean, Mochamad Ridho Mareai, Mohammed