In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting
all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous
robots is a challenging and complex task. With a number of existing architectures and tools to choose from,
a review of the existing robotic architecture is essential. This paper surveys the different paradigms in robotic
architectures. A classification of the existing robotic architectures and comparison of different proposals
attributes and properties have been carried out. The paper also provides a view on the current state of
designing robot architectures. It also proposes a conceptual model of a generalised robotic architecture for
mobile autonomous robots.
Tlale, Nkgatho S.(Southern African Institute for Industrial Engineering, 2006-11)
The modular design of a wall-climbing robot, implementing two articulated legs per
module (biped robotic modules), is presented in this paper. Modular design improves a wall-climbing robot’s manoeuvrability and flexibility ...
Lubbe, Andre J.(Southern African Institute for Industrial Engineering, 2005-11)
New cell phone technology offers the possibility to implement long distance control of robotic systems, although cell phones were not developed for control purposes but rather for communication. In this publication it is ...
Kemp, Petrus Daniel(University of Pretoria, 2007-06-19)
This dissertation deals with the control, guidance and stabilisation of nonlinear, non¬holonomic systems. It is shown that the kinematics of the system can be separated from the dynamics of the system by using successively ...