{"manuscript_title":"<b>A Servo-Based Approach for Adaptive Synchronization of Wheeled Manipulators in the Complicated Tasks</b>","abstract":"In the field of wheeled manipulator (WM), the mobile platform plays a crucial role in ensuring precise and efficient manipulation. In previous works, there lacks of in-depth researches to concern the real-time performance of wheeled base in WM. Therefore, a novel concept to synchronize the motion of omnidirectional wheels is proposed by using the servo-based real-time express protocol. In this design, all-wheel drive (AWD) or four-wheel differential drive (FWDD) is empowered by four networked-servo motors. To manipulate them, both hardware design and software program of our motion controller which consists of four modules such as microcontroller unit (MCU), real-time protocol module, physical layer module, and pulse transform module, are presented. To validate the efficiency and feasibility of our method, the real-world platform of wheeled mobile robot and practical hardware of the proposed motion controller are launched. From these results, it could be seen clearly that the proposed approach is proper and effective for the synchronous control in the industrial WM system.","keywords":["Wheeled manipulator","real-time control","synchronization","embedded system","motion control."]}