An implementation of redundancy resolution and stability monitoring for a material handling vehicle
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.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); Department of Defense, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10149448
- Report Number(s):
- CONF-920798-1; ON: DE92014455
- 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
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Related Subjects
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