Abstract
Pitching machines have been around for many years for casual amusement purpose or professional athletes` training usage, and so forth. The current pitching machines are usually built on the firm ground and do not have any mobility function. In this paper, we develop a pitching machine that has both ball-shooting and mobility functions. Our developed pitching machine consists of two parts. The upper body part has a function of shooting a ball using two DC motors and the lower body part has a function of mobility like mobile robots by using two wheels governed by DC motors. All these functions are operated wirelessly by Android smartphones via bluetooth. The control of each DC motor is done by -PID control method in which the gain tuning is simplied by using a single parameter . Simulation and actual experiment show that our developed pitching machine has both nontrivial shooting and mobility features.
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