Analysis of Dynamic Behavior of an EOD Mechatronic Unit

Author

Aviles, Luis Adrian Zuñiga ; Pedraza, Jesús C. ; Gorrostieta, E. ; Ramos, J.M.

Author_Institution

Appl. Res. Center & Technol. Dev., Secretariat of Nat. Defense-CIDESI, Naucalpan, Mexico

fYear

2009

fDate

22-25 Sept. 2009

Firstpage

244

Lastpage

249

Abstract

This paper presents the dynamic behavior of a mechatronic unit EOD/IEDD (explosive ordinance disposal/ improvised explosive device disposal), by carrying out a modeling and simulation of a proposed control, this unit is applied to perform hazardous-duty operations. In this work proposes a methodology to model and simulate the behavior of a mechatronic unit. The mechatronic unit is a mobile manipulator with 5 degrees of freedom. The simulation consider the dynamic of system coupled, such that the errors in the model can be detected and later confined by control.

Keywords

control system CAD; explosives; manipulator dynamics; manipulator kinematics; mechatronics; mobile robots; CAD software; dynamic behavior; explosive ordinance disposal; hazardous-duty operation; improvised explosive device disposal; mechatronic unit; mobile manipulator; robot kinematics; Explosives; Force measurement; Humans; Kinematics; Manipulator dynamics; Mechatronics; Proposals; Stability; Vehicle dynamics; Weapons; analysis; dynamic; manipulation.; mobile; modeling; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference, 2009. CERMA '09.

Conference_Location

Cuernavaca, Morelos

Print_ISBN

978-0-7695-3799-3

Type

conf

DOI

10.1109/CERMA.2009.81

Filename

5341982