Numerical simulation of acceleration and force control in turret-gun system with disturbance

Turret-gun is a 2-DOF manipulator shaped rifle robot that can be moved into the target with a movement direction and angle in accordance with the target. The size of the turret-gun's bullet should be considered, because it could affect movement of the turret-gun. The larger size and heavier body of turret-gun, not only will be more difficult to control but also slower to move. RACAFC was used to control position and force in turret-gun system. The simulation use some different desired positions. Each position was simulated in the two condition, with disturbance and without disturbance. And the result is RACAFC method more effective and more fast to control the position of turret gun to the desired position with disturbance than without disturbance.