Dynamic Analysis of Tracked Mobile Manipulator Used in Agriculture

Vineet, S; Deshmukh, Deepak; Pratihar, Dilip Kumar; Deb, Alok Kanti; Ray, Hena; Bhattacharyya, Nabarun

doi:10.1109/indicon52576.2021.9691678

Cited by 2 publications

(2 citation statements)

References 10 publications

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“…As shown in Figure 16a, most of these mobile manipulators are made o ground-based mobile-base robots equipped with a vision system for fruit detection [119 Another complex task conducted by mobile manipulators is detecting weeds and spraying pesticides while navigating the traversal of terrain. Vineet et al proposed a pes ticide-spraying robot with a skid-steering mobile manipulator [121]. Tracked wheels wit skid-steering mechanisms were used instead of pneumatic wheels, as tracked wheels im proved the navigation capability on deformable terrain.…”

Section: Application Of Mobile Manipulator In Agriculturementioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates the prospects of the use of mobile manipulators in track maintenance tasks. The current state of railway track inspection and repair technologies is initially reviewed, revealing that very few mobile manipulators are in the railways. Of note, the technologies are analytically scrutinized to ascertain advantages, unique capabilities, and potential use in the deployment of mobile manipulators for inspection and repair tasks across various industries. Most mobile manipulators in maintenance use ground robots, while other applications use aerial, underwater, or space robots. Power transmission lines, the nuclear industry, and space are the most extensive application areas. Clearly, the railways infrastructure managers can benefit from the adaptation of best practices from these diversified designs and their broad deployment, leading to enhanced human safety and optimized asset digitalization. A case study is presented to show the potential use of mobile manipulators in railway track maintenance tasks. Moreover, the benefits of the mobile manipulator are discussed based on previous research. Finally, challenges and requirements are reviewed to provide insights into future research.

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Section: Application Of Mobile Manipulator In Agriculturementioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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“…Because of the mobile manipulator’s capability, various related studies are conducted on the premise that it is used at different fields. The many fields of application include industry [ 18 , 19 ], which is mentioned above, but also construction [ 20 ], agriculture [ 21 , 22 , 23 ], disaster [ 24 ], and healthcare [ 25 , 26 ].…”

Section: Related Workmentioning

confidence: 99%

Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)

Kim

Yang

et al. 2022

Sensors

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As the demand for service robots increases, a mobile manipulator robot which can perform various tasks in a dynamic environment attracts great attention. There are some controllers that control mobile platform and manipulator arm simultaneously for efficient performance, but most of them are difficult to apply universally since they are based on only one mobile manipulator model. This lack of versatility can be a big problem because most mobile manipulator robots are made by connecting a mobile platform and manipulator from different companies. To overcome this problem, this paper proposes a simultaneous controller which can be applied not only to one model but also to various types of mobile manipulator robots. The proposed controller has three main characteristics, which are as follows: (1) establishing a pose that motion planning can be carried out in any position, avoiding obstacles and stopping in a stable manner at the target coordinates, (2) preventing the robot from collision with surrounding obstacles while driving, (3) defining a safety area where the manipulator does not hit the obstacles while driving and executing the manipulation accordingly. Our controller is fully compatible with Robot Operating System (ROS) and has been used successfully with three different types of mobile manipulator robots. In addition, we conduct motion planning experiments on five targets, each in two simulation worlds, and two motion planning scenarios using real robots in real-world environments. The result shows a significant improvement in time compared to existing control methods in various types of mobile manipulator and demonstrates that the controller works successfully in the real environment. The proposed controller is available on GitHub.

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Dynamic Analysis of Tracked Mobile Manipulator Used in Agriculture

Cited by 2 publications

References 10 publications

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)

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