A novel control architecture and design of hybrid locomotion and manipulation tracked mobile robot

Pinhas Ben-Tzvi, Andrew A. Goldenberg, Jean W. Zu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages1374-1381
Number of pages8
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
Duration: 5 Aug 20078 Aug 2007

Publication series

NameProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Conference

Conference2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/TerritoryChina
CityHarbin
Period5/08/078/08/07

Keywords

  • Control architecture
  • Mobile robot
  • RF communication
  • Simulations
  • Virtual prototype

Fingerprint

Dive into the research topics of 'A novel control architecture and design of hybrid locomotion and manipulation tracked mobile robot'. Together they form a unique fingerprint.

Cite this