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

Thesis Type: Post Graduate

Institution Of The Thesis: Orta Doğu Teknik Üniversitesi, Faculty of Engineering, Department of Aerospace Engineering, Turkey

Approval Date: 2006




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.