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Proceedings Paper

Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment
Author(s): ChuXin Chen; Mohan M. Trivedi
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Paper 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.

Paper Details

Date Published: 1 March 1992
PDF: 12 pages
Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992); doi: 10.1117/12.58582
Show Author Affiliations
ChuXin Chen, Univ. of Tennessee/Knoxville (United States)
Mohan M. Trivedi, Univ. of Tennessee/Knoxville (United States)

Published in SPIE Proceedings Vol. 1708:
Applications of Artificial Intelligence X: Machine Vision and Robotics
Kevin W. Bowyer, Editor(s)

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