| Summary: | This thesis focuses on the planar dynamics and control of a variable geometry
manipulator which may be used in space- as well as ground-based operations. The system is
composed of a flexible orbiting platform supporting two modules connected in a chain
topology. Each module consists of two links: one free to slew while the other permitted to
deploy. The model used and the governing order-N equations of motion, as developed by
Caron, are explained. A detailed dynamical response study is undertaken which assesses the
influence of initial conditions, system parameters, and manipulator maneuvers on the system
response. Results suggest that under critical combinations of system parameters and
disturbances the response may not conform to the acceptable limit. This points to a need for
active control. Two different control methodologies are used: (i) the nonlinear Feedback
Linearization Technique (FLT) applied to rigid degrees of freedom with flexible generalized
coordinates indirectly regulated through coupling; (ii) a synthesis of the FLT and Linear
Quadratic Regulator (LQR) to achieve active control of both rigid and flexible degrees of
freedom. Furthermore, the FLT is used to track several prescribed trajectories with
considerable accuracy. Finally, a two unit ground-based prototype manipulator, designed
and constructed by Chu, is used to assess effectiveness of the Proportional-Integral-
Derivative (PID) and FLT control procedures in performing several trajectory tracking
maneuvers. The study lays a sound foundation for further exploration of this class of novel
manipulators. === Applied Science, Faculty of === Mechanical Engineering, Department of === Graduate
|
|---|
