Mobile robots with articulated tracks and manipulators: intelligent control and graphical interface for teleoperation

ChuXin Chen; Mohan M. Trivedi

doi:10.1117/12.143826

4 May 1993 Mobile robots with articulated tracks and manipulators: intelligent control and graphical interface for teleoperation

ChuXin Chen, Mohan M. Trivedi

Author Affiliations +

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143826
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

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 environment has been developed for the design and operation of an integrated robotic manipulator systems. 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.

Citation Download Citation

ChuXin Chen and Mohan M. Trivedi "Mobile robots with articulated tracks and manipulators: intelligent control and graphical interface for teleoperation", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143826

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