An Experimental Testbed for a Free-Floating Manipulator

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. Free-Floating, Space Robot Manipulator, Real-Time Control, Experimental Testbed.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1993
Accession Number
ADA277350

Entities

People

  • Douglas L. Maddox

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Air Gaps
  • Algorithms
  • Bearings
  • Computer Programming
  • Computers
  • Control Systems
  • Engineering
  • Gas Bearings
  • Mechanical Components
  • Mechanical Engineering
  • Motion Planning
  • Operating Systems
  • Power Supplies
  • Space Systems
  • Spacecraft
  • Two Dimensional
  • Vehicles

Readers

  • Educational Psychology
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers