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Proceedings Paper

Novel graphical environment for virtual and real-world operations of tracked mobile manipulators
Author(s): ChuXin Chen; Mohan M. Trivedi; Mir Azam; Nils Terrell Lassiter
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Paper 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.

Paper Details

Date Published: 20 August 1993
PDF: 12 pages
Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); doi: 10.1117/12.150233
Show Author Affiliations
ChuXin Chen, Univ. of Tennessee/Knoxville (United States)
Mohan M. Trivedi, Univ. of Tennessee/Knoxville (United States)
Mir Azam, Univ. of Tennessee/Knoxville (United States)
Nils Terrell Lassiter, Univ. of Tennessee/Knoxville (United States)

Published in SPIE Proceedings Vol. 2059:
Sensor Fusion VI
Paul S. Schenker, Editor(s)

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