Accession Number:

ADA247627

Title:

Analysis and Software for the Development of an Inertially Aided Robot Manipulator

Descriptive Note:

Final rept.,

Corporate Author:

COMPUTER SCIENCES CORP HUNTSVILLE AL

Personal Author(s):

• Hung, James C.

Report Date:

1989-01-31

Pagination or Media Count:

42.0

Abstract:

This report documents the results of a technical support task performed for the U.S. Army Missile Command MICOM. U.S. Army Missile Command MICOM is interested in the use of inertial sensors for the guidance and control of robot manipulators. A project has been launched to conduct a preliminary control system. This task was to provide technical support for the project, including dynamic and error analysis, modeling, data reduction, control scheme establishment, algorithm development, and performance evaluation.

Descriptors:

• *COMPUTER PROGRAMS
• CONTROL
• CONTROL SYSTEMS
• DETECTORS
• MANIPULATORS
• ROBOTS
• ERROR ANALYSIS
• DATA REDUCTION
• INERTIAL SYSTEMS
• ALGORITHMS
• PERFORMANCE TESTS

Subject Categories:

• Operations Research
• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE