Publication:
Experimental test rig for optimal control of flexible space robotic arms

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Authors
Griggs, Martin J.
Subjects
degree of freedom
optimal control
optimal trajectory
vibration analysis
satellite
flexible space systems
air-bearing
slew rates
Advisors
Karpenko, Mark
Date of Issue
2016-12
Date
Dec-16
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
The goal of this thesis was to build an experimental test rig for demonstrations on flexible space systems control. Specifically, an air-bearing test bed incorporated a two-degree of freedom (2DOF) rigid robotic arm and an appendage with flexible joints to test the effects of movement of the robotic arm on the appendage. The two-link, 2DOF rigid robotic arm can be used to simulate a moving space antenna or other movable appendages. Optimal trajectories of the two-link arm to simulate a conventional antenna slewing maneuver were investigated, to illustrate the type of flexible motion that may be produced in the laboratory. An iterative process was used to refine the test bed design and the experimental workflow. Three concepts incorporated various strategies to design a robust flexible link. Inertia measurement units (IMU), a central processor for data analysis, power distribution, and robotics software, are all integrated as part of the test bed design. A single link arm with a torsional, helical spring at the base was finalized to investigate the effects of coupling due to movement of the rigid two-link arm. The torsional spring allowed the vibrating arm to displace sufficiently to have a high signal-to-noise ratio compared to earlier concepts in which IMU noise dominated the response. The test bed was designed to accommodate further testing that may require increased loading due to, for example, the incorporation of reaction wheels or additional instrumentation.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
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NPS Report Number
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Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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