Currently, the U.S. Army is engaged in incorporating advanced robotics into military vehicle systems. One aspect of robotics used in military vehicles includes the use of a robotic arm to perform tasks a human operator is unable to perform or to perform a task which may endanger the operator. One application for a robotic arm was developed by the U.S. Army Tank-Automotive Command (TACOM) which initiated a project to use a robotic refueler arm, guided either by a computer or by an operator with a joystick, to remotely refuel combat vehicles in the forward battle area at a high flow rate. In this paper, the kinematics, inverse kinematics, dynamics, and a global position control strategy for the robotic refueler arm was analyzed. A computer simulation program was written to test the control strategy.


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    Title :

    Robotic Refueler Arm Kinematics, Dynamics and Global Position Control


    Contributors:
    J. Aardema (author)

    Publication date :

    1989


    Size :

    167 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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