16 April 2008 Software control of a video and sensor equipped smart robotic arm for checkpoint vehicle inspection
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Abstract
This paper discusses the hardware and software of a robot-assisted vehicle inspection system - describing, among other things, the inverse-kinematics and special trajectory and "corridor" control needs of the application, plus the coordination of mobile base and robotic arm control. Typical target vehicles are illustrated and task sequencing presented which drives a high level of surveillance and analysis coverage of the vehicle. There are many activities going on all at once during the surveillance sweep of a vehicle, all of which must be and are easily accessible for control and monitoring from a simple uncluttered operational console and dashboard.
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Joseph H. Bosworth, "Software control of a video and sensor equipped smart robotic arm for checkpoint vehicle inspection", Proc. SPIE 6962, Unmanned Systems Technology X, 69620R (16 April 2008); doi: 10.1117/12.777136; https://doi.org/10.1117/12.777136
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