Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

ChuXin Chen; Mohan M. Trivedi

doi:10.1117/12.58582

1 March 1992 Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

ChuXin Chen, Mohan M. Trivedi

Author Affiliations +

Proceedings Volume 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics; (1992) https://doi.org/10.1117/12.58582
Event: Aerospace Sensing, 1992, Orlando, FL, United States

Abstract

This research is focused on enhancing the overall productivity of an integrated human-robot system. A simulation, animation, visualization, and interactive control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for multisensor simulation, kinematics and locomotion animation, dynamic motion and manipulation animation, transformation between real and virtual modes within the same graphics system, ease in exchanging software modules and hardware devices between real and virtual world operations, and 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 and Mohan M. Trivedi "Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992); https://doi.org/10.1117/12.58582

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