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Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster
Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster
Theses and Dissertations
The newly acquired 6-DOF Motion Test Apparatus (MTA) was installed to perform dynamic wind tunnel testing in the AFIT Low Speed Wind Tunnel. Several complex motions revealed that the overall performance of the test rig needed improvement especially during small motions. The motions exposed that further enhancements would need to be performed individually for each joint. This research effort focused on the improvement of the MTA wrist roll motor and controller using a pitch oscillation. The controller software was improved using position feedback because the MTA wrist roll motor and controller exhibited reduced signal bias and amplitude attenuation. The enhanced …