Turret gun study and realization of a reduced model

Abstract

The use of robotic technology is essentially very helpful in every area. Robotics and autonomous systems are already extensively used in many civil domains, especially since technological progress render them less expensive and bulky while, at the same time, more flexible and easier to interact with. As such, robots and multi-robots systems also have the potential to play, in the foreseeable future, a disruptive role in military operations in the sense that they will allow to perform tasks that today are considered too risky, complex or even impossible for humans. But these systems not only have the potential to perform conventional dirty, dull and dangerous military tasks like surveillance and counter mining; they are also likely to change the way military operations are conducted in the future, and even to make it possible to envisage new type of missions. In our project we will obtain the dynamic model of massive gun applying robotic laws, therfore using classical control theory based on feedback control including a study of different feedback configurations and the development of the associated compensator equations, and then optimizing the controller, we will be able to control the obtained model. In the last chapter we will show all the steps to design a fully functionnal scale model of a turret cannon, equipped with a laser as an aiming device, controlled by computer, and precise instructions will be given as well as tests in clear images.