An implementation of redundancy resolution and stability monitoring for a material handling vehicle
Abstract
The ATLAS (All-Terrain Lifter Articulated System) vehicle is a prototype for the next-generation Army material handling vehicle. The vehicle features a redundant manipulator with five degrees of freedom in a plane and a forklift end-effector. The original control system only allowed single joint motion control via a set of joysticks in the cab. A new controller was developed to automatically coordinate all joints in the system and allow the operator to directly control the motions of the end-effector with constant orientation via a single joystick. In addition, a stability monitor was developed that prevents the operator from tipping over the vehicle when manipulating heavy loads of uncertain weight, or warns him of approaching stability limits when driving. Finally, a load-compensation function was developed that automatically tips back the fork tines when a heavy load is lifted. 3 refs.
- Authors:
- Publication Date:
- Research Org.:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States); Department of Defense, Washington, DC (United States)
- OSTI Identifier:
- 10149448
- Report Number(s):
- CONF-920798-1
ON: DE92014455
- DOE Contract Number:
- AC05-84OR21400
- Resource Type:
- Conference
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers/Industrial Electronics Society (IEEE/IES) intelligent vehicles `92,Detroit, MI (United States),1-2 Jul 1992; Other Information: PBD: [1992]
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEFENSE; 42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; MATERIALS HANDLING EQUIPMENT; COMPUTERIZED CONTROL SYSTEMS; STABILITY; VEHICLES; MANIPULATORS; DEGREES OF FREEDOM; MAN-MACHINE SYSTEMS; MILITARY EQUIPMENT; ENGINEERED SAFETY SYSTEMS; EXPERT SYSTEMS; TESTING; 450000; 420200; 990200; MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEFENSE; FACILITIES, EQUIPMENT, AND TECHNIQUES; MATHEMATICS AND COMPUTERS
Citation Formats
Bangs, A L, Pin, F G, and Killough, S M. An implementation of redundancy resolution and stability monitoring for a material handling vehicle. United States: N. p., 1992.
Web.
Bangs, A L, Pin, F G, & Killough, S M. An implementation of redundancy resolution and stability monitoring for a material handling vehicle. United States.
Bangs, A L, Pin, F G, and Killough, S M. 1992.
"An implementation of redundancy resolution and stability monitoring for a material handling vehicle". United States.
@article{osti_10149448,
title = {An implementation of redundancy resolution and stability monitoring for a material handling vehicle},
author = {Bangs, A L and Pin, F G and Killough, S M},
abstractNote = {The ATLAS (All-Terrain Lifter Articulated System) vehicle is a prototype for the next-generation Army material handling vehicle. The vehicle features a redundant manipulator with five degrees of freedom in a plane and a forklift end-effector. The original control system only allowed single joint motion control via a set of joysticks in the cab. A new controller was developed to automatically coordinate all joints in the system and allow the operator to directly control the motions of the end-effector with constant orientation via a single joystick. In addition, a stability monitor was developed that prevents the operator from tipping over the vehicle when manipulating heavy loads of uncertain weight, or warns him of approaching stability limits when driving. Finally, a load-compensation function was developed that automatically tips back the fork tines when a heavy load is lifted. 3 refs.},
doi = {},
url = {https://www.osti.gov/biblio/10149448},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Jun 01 00:00:00 EDT 1992},
month = {Mon Jun 01 00:00:00 EDT 1992}
}