Experimental results of a high speed robotic autoloader for a howitzer

Abstract

Abstmct-"he dynamics of robots are characterized as multi degree-of-freedom and nonlinear. Many control algorithms have been propwed to deal with them, and they show promising results in simulations. Relatively few algorithms, however, have been implemented in real-time applications where one must also consider: unmodelled dynamics, robustness, noise, stiction, backlash, actuator nonlinearity, saturation, time varying effects, power usage, computational requirements, and development cost. This paper describes the experimental results of a nonlinear control algorithm (inverse dynamics feedforward with feedback compensation) that was implemented in a high speed robotic system to see how the controller dealt with those issues. The controller was used in an electric autoloader (robot) for the Army's M109 155 mm self propelled howitzer. The function of the autoloader was to retrieve pmjectiles and propellant from a storage magazine and load them into the gun at a high rate. In this application, control of the autoloader was complicated by the large masses (several hundred kilograms) that had to be actuated from one place to another in a very short time (less than 1 second) to fire 4 rounds in 20 seconds. This paper also describes the technical considerations in developing the robotic autoloader to achieve high speed and accuracy, the manipulator control system, and the special hardware that was built to handle the computational and electrical power requirements.fire 4 rounds in 20 seconds. In this application, it meant some Kenneth C. Tsai was with the Odetics Advanced Intelligent Machines Division Anaheim CA 92802. He is Currently at The

Full state constrained command filtered output feedback control for the electro‐hydraulic ammunition ramming system

“…As the position and velocity of projectile under different firing angles are difficult to hold, it is an ambitious job to ensure the consistency of ammunition ramming bayonet‐chamber by manpower. Since ramming mechanism is instrumental in the consistency of ammunition ramming bayonet‐chamber and the rate of fire, manual ammunition ramming has been superseded by ramming mechanism [4, 5].…”