This ARO-sponsored research investigation has led to a much better understanding of the means to control the dynamic stability of elastically flexible multi-axes robot manipulators as fully described in this final report and its enclosures and attachments. The acquired knowledge in this research effort will be applicable to a large number of military applications and needs such as the use of robotically automated fast moving and light weight gun barrels, target finders, directed laser or particle beams, tank auto-loaders, robot-equipped military vehicles, helicopters and planes. Goals: (1) To achieve stability of motion and computer control of precise positioning of fast moving (light-weight, flexible) robot manipulators, military aiming devices and robotic tank autoloaders; (2) To explore stability of motion problems associated with robot arm-equipped military transports such as helicopters, tanks and armored vehicles; (3) To construct an experimental set up for the simulation of the motion of a flexible robot attached to a moving base; and 4) To conduct experiments to confirm the results obtained in items 1 and 2 of the above goals.
Dynamic Stability of Flexible Robot Manipulators
1991
141 pages
Report
Keine Angabe
Englisch
Military Sciences , Ordnance , Robotics/Robots , Manipulators , Aiming , Armored vehicles , Automatic , Computers , Control , Helicopters , Loaders , Military applications , Military equipment , Motion , Particle beams , Position finding , Precision , Robotics , Robots , Simulation , Stability , Robot dynamics , Tanks(Combat vehicles) , Logistics
Maximum-dynamic-payload trajectory for flexible robot manipulators with kinematic redundancy
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