Teleoperation And Location Of Mobile Manipulator

Since the first mobile robot was born in 1960's, the mobile robot as an important branch of the field of robot has been of great interest and developed. The mobile manipulator is composed with the manipulator and the mobile platform. It is a kind of mobile robot system. Then the part of arm is to realize some action such like catching, and the mobile platform is to expand the robot's operation space. In this way the robot can manipulate in a better position and pose. So the mobile manipulator is always a hot point in robot reach field.In this paper, the first question that be discussed is the mobile robot's location and navigation. For this project, a new method has been taken, which many kinds of sensor and cameras have been used to find the road and itself position. Six simple color sensors and a fuzzy controller realize the road following. And GPS and barcode made the robot local its position clearly.Another question is a teleoperation method based on the WLAN (wireless local area network). A teleoperation system has been built. In that, WLAN is the communication foundation, Hebut-II mobile manipulator is the control object, TCP/IP is the base transmit protocol. The WINSOCK. control is used in software realize the server/client full duplex relation between robot and control centre.This paper is supported by the Hi-tech Research and Development Program of China named the system of leak detecting and repairing mobile manipulator for dangerous chemical reactor (No. 2003 AA421040). All the functions are tested on the HEBUT-II mobile robot plat.