Robotic Refueler Arm Kinematics, Dynamics and Global Position Control.

摘要

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.