| Autor: |
A.L. Bangs, S.M. Killough, F.G. Pin |
| Rok vydání: |
2003 |
| Předmět: |
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| Zdroj: |
Proceedings of the Intelligent Vehicles `92 Symposium. |
| DOI: |
10.1109/ivs.1992.252282 |
| Popis: |
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. > |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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