This paper presents a new generalized control hardware architecture based on embedded on-board wireless communication network between robot’s links and modules such as the actuators and sensors. This approach results in modular control hardware architecture since no cable connections are used between the actuators and sensors in each of a given mobile robot subsystems (links). The effectiveness of this approach is experimentally demonstrated and validated by implementing it with a hybrid mobile robot mechanism as a case study. The hybrid mobile robot mechanism integrates the locomotion mechanism and manipulator arm mechanism as one entity to support both locomotion and manipulation simultaneously and interchangeably.

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