An implementation of redundancy resolution and stability monitoring for a material handling vehicle

A. L. Bangs; F. G. Pin; S. M. Killough

doi:10.1109/IVS.1992.252282

An implementation of redundancy resolution and stability monitoring for a material handling vehicle

A. L. Bangs, F. G. Pin, S. M. Killough

RF and Intelligent Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	336-340
Number of pages	5
ISBN (Electronic)	078030747X
DOIs	https://doi.org/10.1109/IVS.1992.252282
State	Published - 1992
Event	1992 Intelligent Vehicles Symposium, IVS 1992 - Detroit, United States Duration: Jun 29 1992 → Jul 1 1992

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference	1992 Intelligent Vehicles Symposium, IVS 1992
Country/Territory	United States
City	Detroit
Period	06/29/92 → 07/1/92

Funding

'Research sponsored in part by the Office of Engineering Research Program, Basic Energy Sciences, of the U.S. Department of Energy (DOE), under contract No. DE-AC05-MOR21400 with Martin Marietta Energy Systems, Inc., and by the U.S. Army Ft. Belvoir Research Development and Engineering Center under Interagency #0883-COll-A1 with the U.S. DOE.

Funders	Funder number
Office of Engineering Research Program
U.S. Army Ft. Belvoir Research Development and Engineering Center	0883-COll-A1
U.S. DOE
U.S. Department of Energy	DE-AC05-MOR21400
Basic Energy Sciences

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10.1109/IVS.1992.252282

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Bangs, A. L., Pin, F. G., & Killough, S. M. (1992). An implementation of redundancy resolution and stability monitoring for a material handling vehicle. In Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992 (pp. 336-340). Article 252282 (IEEE Intelligent Vehicles Symposium, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.1992.252282

@inproceedings{169102ecb4344f14983000bf615d9f72,

title = "An implementation of redundancy resolution and stability monitoring for a material handling vehicle",

abstract = "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.",

author = "Bangs, {A. L.} and Pin, {F. G.} and Killough, {S. M.}",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1992 Intelligent Vehicles Symposium, IVS 1992 ; Conference date: 29-06-1992 Through 01-07-1992",

year = "1992",

doi = "10.1109/IVS.1992.252282",

language = "English",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "336--340",

booktitle = "Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992",

}

Bangs, AL, Pin, FG & Killough, SM 1992, An implementation of redundancy resolution and stability monitoring for a material handling vehicle. in Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992., 252282, IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 336-340, 1992 Intelligent Vehicles Symposium, IVS 1992, Detroit, United States, 06/29/92. https://doi.org/10.1109/IVS.1992.252282

An implementation of redundancy resolution and stability monitoring for a material handling vehicle. / Bangs, A. L.; Pin, F. G.; Killough, S. M.
Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992. Institute of Electrical and Electronics Engineers Inc., 1992. p. 336-340 252282 (IEEE Intelligent Vehicles Symposium, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Pin, F. G.

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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T3 - IEEE Intelligent Vehicles Symposium, Proceedings

SP - 336

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BT - Proceedings of the Intelligent Vehicles 1992 Symposium, IVS 1992

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T2 - 1992 Intelligent Vehicles Symposium, IVS 1992

Y2 - 29 June 1992 through 1 July 1992

ER -

An implementation of redundancy resolution and stability monitoring for a material handling vehicle

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