Presentation Outline Robotic Manipulator Simulations

Presentation Outline

• Robotic Manipulator Simulations

• IPAC-CMG Cluster & IPACS Simulations

Integrated Power and Attitude Control System (IPACS)

Integrated Power and Attitude Control - Control Moment Gyroscope (IPAC-CMG)

IPAC-CMG Cluster

Robotic Manipulators

The Mechanical Analogy

Inverse Kinematics Calculations  Steering Laws

Moore Penrose Pseudo Inverse (Minimum 2-Norm Solution)

Blended Inverse

Robotic Manipulator Simulations

Robotic Manipulator Simulations (Test Case I)

Robotic Manipulator Simulations (Test Case I –MP-inverse Results)

Robotic Manipulator Simulations (Test Case I –B-inverse Results)

Robotic Manipulator Simulations (Test Case II)

Robotic Manipulator Simulations (Test Case II –MP-inverse Results)

Robotic Manipulator Simulations (Test Case II –B-inverse Results)

Robotic Manipulator Simulations (Test Case II – Results)

Robotic Manipulator Simulations (Test Case III)

Robotic Manipulator Simulations (Test Case III –MP-inverse Results)

Robotic Manipulator Simulations (Test Case III –B-inverse Results)

Robotic Manipulator Simulations (Test Case III – Results)

IPAC-CMG Cluster Simulations

IPAC-CMG Cluster Simulations

IPAC-CMG Cluster Simulations

IPAC-CMG Cluster Simulations – MP-inverse Results

IPAC-CMG Cluster Simulations – B-inverse Results

IPACS Simulations

IPACS Simulations

IPACS Simulations

IPACS Simulations – MP-inverse Results

IPACS Simulations – B-inverse Results

Conclusion

Future Work

• B-inverse in highly redundant robotic mechanisms

Singularity in Robotic Manipulators and CMG Systems

Singularity Avoidance Steering Logic

Singularity Robust Solutions

Singularity Robust Solutions

Thesis Objectives

• Blended Inverse on IPAC-CMG clusters

Spacecraft Energy Storage and Attitude Control

Blended Inverse