Publication:
An experimental testbed for a free-floating manipulator

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Authors
Maddox, Douglas Lamar.
Subjects
Free-floating
Space robot manipulator
Real-time control
Experimental testbed
Advisors
Mukherjee, Ranjan
Date of Issue
1993-12
Date
December 1993
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The attitude control of a multibody system in a gravity free environment has been an ongoing field of study for decades. Although most methods involve the use of thrusters, some algorithms exist that utilize internal motion of the system for reorientation. These algorithms reduce the expenditure of the limited amount of on board fuel so as to extend the useful life span of the system. An experimental facility for testing existing algorithms, and algorithms to be developed in the future for motion planning of multibody space systems, is developed as part of this research. The multibody system developed is comprised of a two link space vehicle/manipulator system. The system is mounted on air bearings and floats freely on a flat glass table. The robotic system is controlled in real time using a VME based controller with support from a SPARC station.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
37 p.
Citation
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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