Shooting Control Application from a Quadruped Robot with a  Weapon System via Sliding mode Control Method

Ahmet Burak Tatar; Alper Kadir Tanyıldızı; Oğuz Yakut

doi:10.14429/dsj.70.14374

Ahmet Burak Tatar Department of Mechatronics Engineering, Firat University, Elazig https://orcid.org/0000-0001-5848-443X
Alper Kadir Tanyıldızı Department of Mechatronics Engineering, Firat University, Elazig https://orcid.org/0000-0003-3324-5445
Oğuz Yakut Department of Mechatronics Engineering, Firat University, Elazig https://orcid.org/0000-0002-0986-1435

DOI: https://doi.org/10.14429/dsj.70.14374

Keywords: Sliding-mode control, Target shooting, Barrel stabilisation, Quadruped robot

Abstract

With the developing technological process, it is expected that the usage of robots will increase in defense systems as in every field. One of the main objectives of the robotic studies for the defense industry is to capture the targeted success under all kinds of disruptive effects with robotic systems and to present this technology to the service of the army. A weapon system with a single degree of freedom was placed on a quadruped robot. System’s dynamic behavior, which has 12 degrees of freedom and planar movements, is modeled mathematically. Simulations of the shots made to the fixed targets were carried out during the walking of the quadruped robot. The gun barrel stabilization was realized to achieve accurate shots under disruptive effects. The sliding-mode control method was used to perform the barrel stabilisation. In this study, it is shown that a quadruped robot with a weapon system can perform successful shots against fixed targets. MATLAB is used for simulations and the results are shown with figures, graphics, and tables.

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