TY - GEN
T1 - A novel control architecture and design of hybrid locomotion and manipulation tracked mobile robot
AU - Ben-Tzvi, Pinhas
AU - Goldenberg, Andrew A.
AU - Zu, Jean W.
PY - 2007
Y1 - 2007
N2 - This paper presents a novel control architecture for a tracked hybrid mobile robot that was designed based on hybridization of the mobile platform and manipulator arm as one entity for robot locomotion as well as manipulation. The novel concept of the mechanical design is described and analyzed with the aid of a virtual prototype that was developed with multibody dynamic motion simulation software. The simulation results were used to demonstrate the robot's expected functionality and demonstrate its capability while utilizing them for design optimization and ongoing construction of the first physical prototype. Along with the novel design we focus on a novel concept for on-board RF communication among robot's joints. This paper also summarizes the qualitative and quantitative performance of the hybrid robot in terms of mobility, communication, power, sensors, and control.
AB - This paper presents a novel control architecture for a tracked hybrid mobile robot that was designed based on hybridization of the mobile platform and manipulator arm as one entity for robot locomotion as well as manipulation. The novel concept of the mechanical design is described and analyzed with the aid of a virtual prototype that was developed with multibody dynamic motion simulation software. The simulation results were used to demonstrate the robot's expected functionality and demonstrate its capability while utilizing them for design optimization and ongoing construction of the first physical prototype. Along with the novel design we focus on a novel concept for on-board RF communication among robot's joints. This paper also summarizes the qualitative and quantitative performance of the hybrid robot in terms of mobility, communication, power, sensors, and control.
KW - Control architecture
KW - Mobile robot
KW - RF communication
KW - Simulations
KW - Virtual prototype
UR - http://www.scopus.com/inward/record.url?scp=37049035333&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=37049035333&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303750
DO - 10.1109/ICMA.2007.4303750
M3 - Conference contribution
AN - SCOPUS:37049035333
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 1374
EP - 1381
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -