Accession Number:

ADA556995

Title:

Dynamic Simulation and Collision Modeling of the Packbot Manipulator

Descriptive Note:

Journal article

Corporate Author:

AUTOMOTIVE RESEARCH CENTER ANN ARBOR MI

Personal Author(s):

Report Date:

2010-08-11

Pagination or Media Count:

23.0

Abstract:

The Packbot is a ground robot commonly used by the US military for explosive ordnance disposal. It is prone to failure in the field for various reasons 1. When a single joint of the Packbot EOD manipulator fails, the entire arm is rendered useless despite the fact that it has redundant degrees of freedom. We are designing reconfigurable control systems and strategies to regain manipulator function in the face of joint failure, but we lack any way to test these strategies. Either a copy of the arm or a software model is needed, and this report describes the software route.

Subject Categories:

  • Cybernetics
  • Ammunition and Explosives

Distribution Statement:

APPROVED FOR PUBLIC RELEASE