Novel graphical environment for virtual and real-world operations of tracked mobile manipulators

ChuXin Chen; Mohan M. Trivedi; Mir Azam; Nils Terrell Lassiter

doi:10.1117/12.150233

20 August 1993 Novel graphical environment for virtual and real-world operations of tracked mobile manipulators

ChuXin Chen, Mohan M. Trivedi, Mir Azam, Nils Terrell Lassiter

Proceedings Volume 2059, Sensor Fusion VI; (1993) https://doi.org/10.1117/12.150233
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of an integrated mobile manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. 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, Mohan M. Trivedi, Mir Azam, and Nils Terrell Lassiter "Novel graphical environment for virtual and real-world operations of tracked mobile manipulators", Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); https://doi.org/10.1117/12.150233

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