Robotic manipulation of massive objects in space
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Authors
Carabis, David S.
Issue Date
2020-12
Type
Electronic thesis
Thesis
Thesis
Language
ENG
Keywords
Mechanical engineering
Alternative Title
Abstract
This methodology is verified with air bearing table experiments that include object tracking, capture, path planning, trajectory generation, trajectory following, and berthing. Spatial berthing simulation results are also provided. Slip avoidance is also considered, and we contribute a methodology for slip avoidance via dynamic grasping, trajectory modification, and berthing force adjustment to avoid slip during multi-arm manipulation. Both planar air bearing and full spatial physical experiments are conducted to verify this methodology. We provide a more fundamental derivation of passivity-based stabilization methods that directly applies passivity theorem rather than relying on circuit-equivalent models. Furthermore, we contribute two additional methods for stabilizing hybrid simulations: H infinity control and adaptive control. Simulations are provided for a 1D scenario, and we investigate the benefits and drawbacks of each proposed method. Finally, we investigate the stability issue due to time delay in hybrid simulations.
Description
December 2020
School of Engineering
School of Engineering
Full Citation
Publisher
Rensselaer Polytechnic Institute, Troy, NY