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

摘要

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.