The Implementation and Testing of a Robotic Arm on an Autonomous Vehicle

Abstract

An articulated arm with three degrees of freedom is implemented and tested on an autonomous robot. Kinematic equations of motion for the arm are modeled and tested. A communication architecture is successfully implemented for wireless manual control of the arm. Visual and thermal cues are realized with an onboard camera and a collocated thermal sensor. Future work suggests investigations for full autonomous arm control without manual operator intervention based on sensor cues and visual scene correlation.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2007
Accession Number
ADA475886

Entities

People

  • Hyun Il Jun

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Energy and Power Technologies
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Vehicles
  • Computer Programming
  • Computers
  • Coordinate Systems
  • Department Of Defense
  • Detectors
  • Explosive Devices
  • Explosive Ordnance Disposal
  • Explosives
  • Human Factors Engineering
  • Improvised Explosive Devices
  • Military Applications
  • Military Operations
  • Operating Systems
  • Power Distribution
  • Unmanned Ground Vehicles
  • Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Computer Vision.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy