Steering of redundant robotic manipulators and spacecraft integrated power and attitude control-control moment gyroscopes

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2005

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Altay, Alkan

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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.

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http://etd.lib.metu.edu.tr/upload/12607043/index.pdf
https://hdl.handle.net/11511/15502

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

A. Altay, “Steering of redundant robotic manipulators and spacecraft integrated power and attitude control-control moment gyroscopes,” M.S. - Master of Science, Middle East Technical University, 2005.