ABSTRACT
This chapter highlights the applications of IoT in the field of robotics. The authors proposed the design and development of a Remotely Operated Mobile Manipulator that can detect suspicious or explosive devices during terrorist attacks or on active bomb sites. The robot prototype is an Unmanned Ground Vehicle (UGV) with a multi-terrain tracked wheel chassis and a 6-degrees-of-freedom (DoF) robotic arm mounted on the top, with a First Person View(FPV) camera for visual feedback. The combination of a 6 DOF articulated arm with a 3 DOF mobile robot provides improved mobility and an increase in the workspace. The mathematical modelling of the articulated robotic arm, along with the teleoperation of the mobile robot base with real-time object detection, has been implemented. The designed prototype uses 12v DC motors for the mobile base and DC servo motors for the articulated arm which are actuated through PWM signals generated through the General Purpose Input–Output (GPIO) pins of a Raspberry Pi model 4B computer. The robot operation is performed wirelessly from a remote computer or a mobile device to assist bomb disposal teams in safely detecting the type of the explosive device and disposing of it remotely with help of the manipulator.
