The purpose of this research is to develop an end-to-end system that can be applied to a multibody system in free-fall to analyze its possible motions, save those motions in a database, and design a controller that can execute those motions. A goal is for the process to be highly automated and involve little human intervention. Ideally, the output of the system would be data and algorithms that could be put in ROM to control the multibody system in free-fall. The research applies to more than just robots in space. It applies to any multibody system in free-fall. Mathematical techniques from nonlinear control theory were used to study the nature of the system dynamics and its possible motions. Optimization techniques were applied to plan motions. Image compression techniques were proposed to compress the precomputed motion data for storage. A linearized controller was derived to control the system while it executes preplanned trajectories.
Planning and executing motions for multibody systems in free-fall
1991-01-01
Theses
No indication
English
Optimal Motions of Multibody Systems in Resistive Media
Springer Verlag | 2009
|Optimal Motions of Multibody Systems in Resistive Media
British Library Conference Proceedings | 2009
|Pitch and yaw motions of a human being in free fall
NTRS | 1968
|