Academic Journal
System Integration for Real-Time Mobile Manipulation
| العنوان: | System Integration for Real-Time Mobile Manipulation |
|---|---|
| المؤلفون: | Reza Oftadeh, Mohammad M. Aref, Reza Ghabcheloo, Jouni Mattila |
| المصدر: | International Journal of Advanced Robotic Systems, Vol 11 (2014) |
| بيانات النشر: | SAGE Publishing, 2014. |
| سنة النشر: | 2014 |
| المجموعة: | LCC:Electronics LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator's mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1729-8814 |
| Relation: | https://doaj.org/toc/1729-8814 |
| DOI: | 10.5772/58467 |
| URL الوصول: | https://doaj.org/article/e1107e70d368417d90ae630dc48828bc |
| رقم الانضمام: | edsdoj.1107e70d368417d90ae630dc48828bc |
| قاعدة البيانات: | Directory of Open Access Journals |
| تدمد: | 17298814 |
|---|---|
| DOI: | 10.5772/58467 |