Object oriented network control of Wheeeler - the hyper mobile inspection robot

摘要

In this paper some issues related to the modelling and control of a new designed hyper mobile inspection robot are discussed. The device is articulated body, hyper redundant snakelike machine driving on wheels and therefore we call it -Wheeeler. We decided to reserve significant part of project for simulation stage to thoroughly test most aspects of construction, communication and operation of our robot. In construction we evaluated kinematics of Wheeeler, numbers and ranges of movements of joints, and positioning of various sensors. Robot is supposed to be used as a network controlled teleoperator and hence we implemented CORBA based communication. Finally we consider some methods to make teleoperation of our hyper mobile robot more intuitive.