One Degree Micro-Macro Manipulator Integration Test for the Automated Paint Application, Containment, and Treatment System (APACTS)
Richard J. Norcross
The Carderock Division of the Naval Surface Warfare Center is developing the Automated Paint Application, Containment, and Treatment System (APACTS) to apply anti-corrosive and anti-fouling paints in an environmentally sound manner. The APACTS motion system employs a self-propelled base carrying a long reach macro-manipulator carrying a quick response micro-manipulator to maneuver the paint nozzle and containment device along the ship hull. The manipulators run separate but coordinated trajectories whose combination is the path of the paint nozzle. The micro-manipulator's trajectory is shifted to keep the paint nozzle at the appropriate position relative to the surface being painted. The micro-manipulator communicates the shift amount to the macro-manipulator, who adjusts its trajectory to remove the error and re-center the micro-manipulator. This report investigates the minimum requirements for the interface between the macro and micro-manipulators. The investigation includes experiments that test the micro-macro interface by observing the system's response to induced errors. The results indicate an interface reporting the size of the shift and the frequency of the report is sufficient to control the manipulator system, but may not be sufficient for the APACTS application. The report includes possible improvements to the interface.
One Degree Micro-Macro Manipulator Integration Test for the Automated Paint Application, Containment, and Treatment System (APACTS), NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823377
(Accessed November 29, 2023)