Date of Award

Spring 1990

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical & Aerospace Engineering

Program/Concentration

Engineering Mechanics

Committee Director

Thomas E. Alberts

Committee Member

Jen K. Huang

Committee Member

Gene Hou

Call Number for Print

Special Collections; LD4331.E57K45

Abstract

Future space mission plans call for extensive use of remote manipulator systems for tasks such as assembly of lunar vehicles or space station modules, servicing of satellites, etc. These tasks demand very high precision end-effector motion control. Methods for compensating manipulator dynamics to achieve better trajectory tracking performance have been investigated by many researchers. Still, it is not always clear whether the added complexity of dynamic compensation is warranted for a given system. As an aid in evaluating when dynamic compensation is required, this thesis presents a method for the determination of maximum endpoint tracking error due to uncompensated inertial payload dynamics. The problem is formulated based upon well known kinetic and kinematic relationships with constraints on maximum joint positions and velocities as well as the generalized force/speed constraint relationship for each actuator. An endpoint tracking error objective function is formed and numerical optimization routine based on DFP algorithm is used to determine the maximum. An example computation is presented to show the tracking error under progressively increasing payload using a Unimate PUMA 560 manipulator with its first three joints in motion. The elements of the dynamics and kinematics equations are derived symbolically using MACSYMA, a symbolic manipulation package.

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DOI

10.25777/xg9q-np94

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