Next Generation Munitions Handler: Human-Machine Interface and Preliminary Performance Evaluation
The Next Generation Munitions Handler/Advanced Technology Demonstrator (NGMI-VATTD) is a technology demonstrator for the application of an advanced robotic device for re-arming U.S. Air Force (USAF) and U.S. Navy (USN) tactical fighters. It comprises two key hardware components: a heavy-lift dexterous manipulator (HDM) and a nonholonomic mobility platform. The NGMWATTD is capable of lifting weapons up to 4400 kg (2000 lb) and placing them on any weapons rack on existing fighters (including the F-22 Raptor). This report describes the NGMH mission with particular reference to human-machine interfaces. It also describes preliminary testing to garner feedback about the heavy-lift manipulator arm from experienced fighter load crewmen. The purpose of the testing was to provide preliminary information about control system parameters and to gather feed- back from users about manipulator arm functionality. To that end, the Air Force load crewmen interacted with the NGMWATTD in an informal testing session and provided feedback about the performance of the system. Certain con- trol system parameters were changed during the course of the testing and feedback from the participants was used to make a rough estimate of "good" initial operating parameters. Later, formal testing will concentrate within this range to identify optimal operating parameters. User reactions to the HDM were generally positive, All of the USAF personnel were favorably impressed with the capabilities of the system. Fine-tuning operating parameters created a system even more favorably regarded by the load crews. Further adjustment to control system parameters will result in a system that is operationally efficient, easy to use, and well accepted by users.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Oak Ridge, TN
- Sponsoring Organization:
- USDOE Office of Defense Programs (DP)
- DOE Contract Number:
- AC05-96OR22464
- OSTI ID:
- 6560
- Report Number(s):
- ORNL/CP-101966; ON: DE00006560
- Resource Relation:
- Conference: ANS 8th Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA, April 25-29, 1999
- Country of Publication:
- United States
- Language:
- English
Similar Records
Control of rolling contacts in multi-arm manipulation
Core design studies for advanced burner test reactor.