Tracked mobile robots are well suited for operation in uneven and obstacle ridden environments. A great majority of the current research in motion planning and obstacle avoidance however involves either wheeled or legged mobile systems. In our research we have been developing tracked mobile-manipulator systems for applications in hazardous environments. A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. It is characterized by three unique and useful features. (1) Simulation and Visualization of Robot Motion, (2) Virtual and Real World Transformations, and (3) Sensor-based Manipulation and Reactive Obstacle Negotiating Strategies. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.
Mobile robots with articulated tracks and manipulators: intelligent control and graphical interface for teleoperation
Mobile Roboter mit gelenkigen Gleisen und Manipulatoren. Intelligente Steuerung und graphische Schnittstelle für die Fernlenkung
1992
12 Seiten, 8 Bilder, 18 Quellen
Conference paper
English
Stable delayed bilateral teleoperation of mobile manipulators
British Library Online Contents | 2017
|High-Accuracy Articulated Mobile Robots
SAE Technical Papers | 2017
|High-Accuracy Articulated Mobile Robots
British Library Conference Proceedings | 2017
|Articulated crawler has four driven tracks
Automotive engineering | 1981
|