Several mobile robots have been developed to operate in distant fields with low accessibility, and robotic solutions have now become imperative to the monitoring and surveillance of many of these fields. By adding manipulator arms to the robot base we can bring another dimension to these robots as they will be able to perform interaction tasks and manipulation in the field. Agricultural robotics is one important area where robots with manipulator arms and advanced sensory systems can revolutionize today’s technology with more efficient pruning and harvesting, surveillance and monitoring, and precision farming in general.
This chapter discusses the most important aspects of field robotics, including efficient locomotion found in for example wheeled robots. The dynamic equations of field robots with manipulator arms are found with particular focus on robots that operate on land, either on Earth or in space such as the moon and distant planets.
KeywordsMobile Robot Configuration Space Kinematic Constraint Body Frame Snake Robot
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