Shooting Control Application from a Quadruped Robot with a Weapon System via Sliding mode Control Method

Autor:	Oguz Yakut, Ahmet Burak Tatar, Alper Kadir Tanyildizi
Rok vydání:	2020
Předmět:	Weapon system Computer science Control theory Mechanical Engineering General Chemical Engineering Control (management) Biomedical Engineering General Physics and Astronomy Robot Electrical and Electronic Engineering Sliding mode control Computer Science Applications
Zdroj:	Defence Science Journal. 70:404-411
ISSN:	0976-464X 0011-748X
Popis:	With the developing technological process, it is expected that the usage of robots will increase in defense systems as in every field. One of the main objectives of the robotic studies for the defense industry is to capture the targeted success under all kinds of disruptive effects with robotic systems and to present this technology to the service of the army. A weapon system with a single degree of freedom was placed on a quadruped robot. System’s dynamic behavior, which has 12 degrees of freedom and planar movements, is modeled mathematically. Simulations of the shots made to the fixed targets were carried out during the walking of the quadruped robot. The gun barrel stabilization was realized to achieve accurate shots under disruptive effects. The sliding-mode control method was used to perform the barrel stabilisation. In this study, it is shown that a quadruped robot with a weapon system can perform successful shots against fixed targets. MATLAB is used for simulations and the results are shown with figures, graphics, and tables.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::76f2ebcee76b741db5c0266f72e10669 https://doi.org/10.14429/dsj.70.14374 Zobrazit plný text záznamu