One Degree Micro-Macro Manipulator Integration Test for the Automated PaintApplication, Containment, and Treatment System (APACTS)

摘要

The Carderock Division of the Naval Surface Warfare Center is developing theAutomated Paint Application Containment, and Treatment System (APACTS) to apply anti-corrosive and anti-fouling paints in an environmentally sound manner. To provide accurate motion over a very large volume, the APACTS motion system employs a self-propelled base carrying a long reach macro-manipulator which in turn carries a quick response micro-manipulator to maneuver the paint nozzle and containment device along the ship hull. The manipulators run separate but coordinated trajectories whose combination is the path of the paint nozzle. Based on sensors and feedback from the operator's observations, the micro-manipulator's trajectory is shifted to keep the paint nozzle at the appropriate position relative to the surface being painted. The micro-manipulator communicates the shift to the macro-manipulator, which adjusts its trajectory to remove the error and re-center the micro-manipulator. This report investigates the minimum