To develop a detailed design, solid model (for all components) of
nine degrees of freedom (dof) (3-dof vehicle/mobile base + 6-dof
manipulator arm) multi-purpose mobile manipulator.
To develop a dynamic simulation model for the proposed mobile
manipulator and analyze the overall system performance at different
operating conditions.
To develop a suitable semi-autonomous motion control scheme
through a tele-operation mode for tracking, positioning and various
mobile manipulation tasks.
Three fully functional prototypes of different designs of
multi-purpose manipulators are developed and demonstrated.
Accessibility Controls