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.
Robotic Refueler Arm Kinematics, Dynamics and Global Position Control
1989
167 pages
Report
No indication
English