Publication:
An experimental testbed for a free-floating manipulator

dc.contributor.advisorMukherjee, Ranjan
dc.contributor.authorMaddox, Douglas Lamar.
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentMechanical Engineering
dc.dateDecember 1993
dc.date.accessioned2014-03-26T23:22:58Z
dc.date.available2014-03-26T23:22:58Z
dc.date.issued1993-12
dc.description.abstractThe 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.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.serviceLieutenant, United States Navyen_US
dc.description.urihttp://archive.org/details/anexperimentalte1094539715
dc.format.extent37 p.en_US
dc.identifier.urihttps://hdl.handle.net/10945/39715
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis 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.en_US
dc.subject.authorFree-floatingen_US
dc.subject.authorSpace robot manipulatoren_US
dc.subject.authorReal-time controlen_US
dc.subject.authorExperimental testbeden_US
dc.titleAn experimental testbed for a free-floating manipulatoren_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S. in Mechanical Engineeringen_US
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