The development of the control for an urban search and rescue robot manipulator arm

The University of Cape Town (UCT) Robotics and Agents Research Laboratory (RARL) began research into developing a USAR robot in 2006. The final design of the fourth generation USAR robot developed by UCT [is] named RATEL... This document reports on the research and development of the control for the four degree-of-freedom manipulator arm and pan/tilt system located on the RATEL USAR robot. The report initially discusses control methods used on previously developed teleoperated manipulators in the fields of kinematic modelling, motor control, communications architectures, teleoperative interfaces as well as collision detection and proceeds to discuss the development of the control for the RATEL manipulator.

Grantor dc:publisher.institution

Department of Mechanical Engineering

Year dc:date.issued

2013

Author dc:creator

• Springer, Bradley Mark

Advisor dc:contributor.advisor

• Marais, Stephen

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/11427/5468

OAI identifier oai:identifier

oai:open.uct.ac.za:11427/5468