Robotic manipulators mounted on spacecraft experience a number of kinematic, dynamic, and
control problems because the motion of the spacecraft is affected by the robot motion. Because
of this dynamic coupling, robot motion required to produce a given robot end-effector position
for a fixed base manipulator would not result in correct end-effector position for the same
manipulator mounted on a spacecraft. In this thesis, the general three dimensional equations
of motion are derived for an n link manipulator mounted on a non-fixed base object. Instead
of performing a single inverse kinematic calculation at the beginning of a movement to determine
the required joint setpoints, multiple inverse kinematic updates are done throughout a
movement. The updating sequence is determined by an optimal inverse kinematic updating
algorithm. This motion control algorithm is based on experimental simulation results performed
in Matlab and a set of performance indices that are used as guidelines. Simple PD
joint controllers are used for servoing the manipulator joints for a planar robot application. A
joint trajectory generator utilizing velocity time scaling and quintic polynomials is developed.
In addition to compensating for the base motion, it is shown that multiple updating requires
less energy consumption than single inverse kinematic calculation based movements. Endpoint
overcompensation and endpoint servoing are two techniques that enable any desired manipulator
accuracy assuming kinematic and dynamic singuarities are not encountered. The derived
motion control techniques incorporate the base motion without base motion control. Knowledge
of the system dynamics is not required and the iterative inverse kinematics is performed
online without model prediction. / Applied Science, Faculty of / Mechanical Engineering, Department of / Graduate
| Identifer | oai:union.ndltd.org:UBC/oai:circle.library.ubc.ca:2429/5918 |
| Date | 05 1900 |
| Creators | Carter, Frederick Michael |
| Source Sets | University of British Columbia |
| Language | English |
| Detected Language | English |
| Type | Text, Thesis/Dissertation |
| Format | 4611063 bytes, application/pdf |
| Rights | For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use. |
Page generated in 0.0019 seconds