Dynamic Simulation and Collision Modeling of the Packbot Manipulator

Abstract

The Packbot is a ground robot commonly used by the US military for explosive ordnance disposal. It is prone to failure in the field for various reasons [1]. When a single joint of the Packbot EOD manipulator fails, the entire arm is rendered useless despite the fact that it has redundant degrees of freedom. We are designing reconfigurable control systems and strategies to regain manipulator function in the face of joint failure, but we lack any way to test these strategies. Either a copy of the arm or a software model is needed, and this report describes the software route.

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Document Details

Document Type
Technical Report
Publication Date
Aug 11, 2010
Accession Number
ADA556995

Entities

People

  • John A. Hall

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Collisions
  • Computations
  • Computers
  • Control
  • Control Systems
  • Data Storage Systems
  • Detection
  • Differential Equations
  • Equations
  • Event Detection
  • Explosive Ordnance Disposal
  • Geometry
  • Manipulators
  • Reliability
  • Robotics
  • Simulations
  • Simulators

Fields of Study

  • Computer science

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Fluid Dynamics.
  • Parallel and Distributed Computing.

Technology Areas

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