Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Coordination

Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Detroit, Michigan May 199

A two-wheeled machine with a handling mechanism in two different directions

Despite the fact that there are various configurations of self-balanced two-wheeled machines (TWMs), the workspace of such systems is restricted by their current configurations and designs. In this work, the dynamic analysis of a novel configuration of TWMs is introduced that enables handling a payload attached to the intermediate body (IB) in two mutually perpendicular directions. This configuration will enlarge the workspace of the vehicle and increase its flexibility in material handling, objects assembly and similar industrial and service robot applications. The proposed configuration gains advantages of the design of serial arms while occupying a minimum space which is unique feature of TWMs. The proposed machine has five degrees of freedoms (DOFs) that can be useful for industrial applications such as pick and place, material handling and packaging. This machine will provide an advantage over other TWMs in terms of the wider workspace and the increased flexibility in service and industrial applications. Furthermore, the proposed design will add additional challenge of controlling the system to compensate for the change of the location of the COM due to performing tasks of handling in multiple directions

Mechanical design of a four wheel omni directional mobile robot

Mestrado em ESTG-IPBOmni directional mobile robots have been popularly employed in several applications, especially in soccer player robots considered in Robocup competitions. Actually, the popular optimized robots are using three wheels in the mechanical structure. This situation brings the idea of omnidirectional robot at manufacturing. To design the omnidirectional wheels mobile robot respecting the requirement specifications of the factory lite competition, it’s recommended to design and optimize the proposed solution using Solidworks tool. To design a mobile robot using four omni wheels, it’s important to implement suspension system for each wheel. The suspension system will help the programmer when implementing the PID parameters and test the robot. Such a robot can respond more quickly and it would be capable of more sophisticated behaviors such as to transport materials and placed on processing machine and outgoing warehouses. This thesis has tried to focus the description of four wheel omnidirectional mobile robot to be applied to the Factory Lite competition

Teleoperated visual inspection and surveillance with unmanned ground and aerial vehicles,” Int

Abstract—This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B) the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C) the architecture and hardware of the UAV