Description of a Vibration Compensation System for the Small Scale Model RobotCrane Project

摘要

The report describes the electronic hardware designed and developed for the SmallScale Model Robot Crane (SSMRC) Project sponsored by the Defense Advanced Research Projects Agency (DARPA). The purpose of the electronic hardware is to provide the necessary servo controls for the three axes of the SSMRC. The report begins with an introduction which explains the overall objectives of the project and describes the SSMRC system configuration. An electronic design section discusses each system component and describes the component from both a hardware and a system point of view. Test procedures and results, which give the troubleshooting methods and data needed for development of the system, are then presented. The report concludes with a brief summary and an appendix which provides electronic design schematics and descriptions of the parts used in the construction of the electronic hardware system.