Abstract
An autonomous mobile robot is presented. It consists of two parts: a mobile vehicle underneath a robotarm with DOF 5.
These two are a nonholomic (the mobile vehicle) and a holonomic subsystem (the robotarm).
To give the robot orders or tasks to accomplish this can be done from an external controlsoftware via TCP-IP to the controlsoftware
of the robot. An embedded system involves chart creation, pathplanning (global, local), evaluation of sensorsignals,
object- and/or marker-detection and a controlled movement. Futhermore it communicates over FIFOs with an nonrealtimetask
which allows a communication via TCP-IP.
Several sensors are implemented, e.g. infrared-/ ultrasonic-range sensors connected via CAN to the embedded board, as well
as the control boards for each engine. A Laserscanner is installed in front of the robot to detect edges and obstacles. For
marker-tracking and object recognition an USB-Webcam is added on the robotarm.
For avoidance of collisions between the robotarm and the mobile robot a repeller is introduced.
| Original language | English |
|---|---|
| Pages (from-to) | 10143 10144 |
| Number of pages | 2 |
| Journal | PAMM - Proceedings in Applied Mathematics and Mechanics |
| Volume | 8 |
| Issue number | 1 |
| Publication status | Published - 2008 |
Fields of science
- 202 Electrical Engineering, Electronics, Information Engineering
- 202035 Robotics
- 203013 Mechanical engineering
- 203015 Mechatronics
- 203022 Technical mechanics
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