Robotic Refueler Arm Kinematics, Dynamics and Global Position Control

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1989
Accession Number
ADA396148

Entities

People

  • James Aardema

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Weapons Technologies

DTIC Thesaurus Topics

  • Air Force
  • Combat Vehicles
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Coordinate Systems
  • Differential Equations
  • Equations Of Motion
  • Flow Rate
  • Inertial Navigation Systems
  • Joints (Anatomy)
  • Military Vehicles
  • Plastic Explosives
  • Simulations
  • Test And Evaluation
  • Warfare

Readers

  • Aerospace logistics and air mobility.
  • Robotics and Automation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy