In this thesis, recently developed Blended Inverse (B-inverse) steering law is
applied to two different redundant actuator systems. First, repeatability of Binverse
is demonstrated on a redundant robotic manipulator. Its singularity
avoidance and singularity transition performance is also demonstrated on the same
actuator system. It is shown that B-inverse steering law provides singularity
avoidance, singularity transition and repeatability. Second, its effectiveness is
demonstrated for an Integrated Power and Attitude Control - Control Moment
Gyroscope (IPAC-CMG) cluster, which can perform energy management and
attitude control functions simultaneously. For this purpose, an IPAC-CMG
flywheel is conceptually designed. A control policy is developed for the energy
management.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12607043/index.pdf |
| Date | 01 January 2006 |
| Creators | Altay, Alkan |
| Contributors | Tekinalp, Ozan |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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