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Steering Of Redundant Robotic Manipulators And Spacecraft Integrated Power And Attitude Control - Control Moment Gyroscopes

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.

Identiferoai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12607043/index.pdf
Date01 January 2006
CreatorsAltay, Alkan
ContributorsTekinalp, Ozan
PublisherMETU
Source SetsMiddle East Technical Univ.
LanguageEnglish
Detected LanguageEnglish
TypeM.S. Thesis
Formattext/pdf
RightsTo liberate the content for public access

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