Application of finite-element methods to dynamic analysis of flexible spatial and co-planar linkage systems, part 2

An approach is described to modeling the flexibility effects in spatial mechanisms and manipulator systems. The method is based on finite element representations of the individual links in the system. However, it should be noted that conventional finite element methods and software packages will not handle the highly nonlinear dynamic behavior of these systems which results form their changing geometry. In order to design high-performance lightweight systems and their control systems, good models of their dynamic behavior which include the effects of flexibility are required

The dynamic control of robotic manipulators in space

Described briefly is the work done during the first half year of a three-year study on dynamic control of robotic manipulators in space. The research focused on issues for advanced control of space manipulators including practical issues and new applications for the Virtual Manipulator. In addition, the development of simulations and graphics software for space manipulators, begun during the first NASA proposal in the area, has continued. The fabrication of the Vehicle Emulator System (VES) is completed and control algorithms are in process of development

A virtual manipulator model for space robotic systems

Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems

The control of space manipulators subject to spacecraft attitude control saturation limits

The motions of robotic manipulators mounted on spacecraft can disturb the spacecraft's positions and attitude. These disturbances can surpass the ability of the system's attitude control reaction jets to control them, for the disturbances increase as manipulator speeds increase. If the manipulator moves too quickly the resulting disturbances can exceed the saturation levels of the reaction jets, causing excessive spacecraft motions. A method for planning space manipulator's motions is presented, so that tasks can be performed as quickly as possible without saturating the system's attitude control jets

Dynamics of flexible multi-body mechanisms and manipulators. Part 1: An overview

Flexibility can be a major limitation to the performance of high performance conventional machine systems. The current status of robotic manipulators is limited by the effects of system flexibility. The status of current commercial robots, anticipated development in 5 and 10 years is outlined

The Design, Planning and Control of Robotic Systems in Space

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics

Graduate Internship Report - Cal Poly Bull Test

The Cal Poly Bull Test has a long-standing history on the university campus. The program has continued to grow and improve since it was founded in 1956 and with these improvements to the program, the marketing and curriculum need to adapt as well. For this internship, I worked in partnership with Dr. McFarlane on three main projects focusing on rebranding, curriculum development, and the creation of marketing materials. The rebranding consisted of the creation of a new logo and an updated brand guide. The curriculum development consisted of the creation of a marketing module for the enterprise-class that focuses on teaching the marketing strategy as well as important skills required from the marketing team. The final aspect of my internship was a collaboration with CAFES to develop a marketing and informational video showcasing the Cal Poly Bull Test to be shared with industry stakeholders. The work I completed in this internship will be implemented into the program and will help the Cal Poly Bull Test continue to grow