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Navigation, Guidance, Control and Dynamics Commons™
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Articles 1 - 6 of 6
Full-Text Articles in Navigation, Guidance, Control and Dynamics
Mass-Adaptive Admittance Control For Robotic Manipulators, Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver
Mass-Adaptive Admittance Control For Robotic Manipulators, Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver
Mechanical & Aerospace Engineering Faculty Publications
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in realtime. In this paper, we present a novel approach that enables a six-degrees-of-freedom robotic manipulator to reliably follow waypoints while automatically estimating and compensating for unknown payload weight. Our method integrates an admittance control framework with a mass estimator, allowing the robot to dynamically update an excitation force to compensate for the payload mass. This strategy mitigates end-effector sagging and preserves stability when handling objects of unknown weights. We experimentally validated our approach in …
Optimal Manipulation Motion Action Planner Enabled By Physics Informed Neural Networks, Jonathon E. Slightam, Logan E. Beaver
Optimal Manipulation Motion Action Planner Enabled By Physics Informed Neural Networks, Jonathon E. Slightam, Logan E. Beaver
Mechanical & Aerospace Engineering Faculty Publications
Autonomous robotic manipulation in unstructured environments faces many challenges and is hindered by capabilities that bridge the gap between perception and acting on the world. Action plans that are centric to object motion rather than end-of-arm tooling behavior may aid this. This paper presents an autonomous action planner for a feedback linearizeable system comprised of three base motions that can be leveraged on their own or in combination to give custom motion plans. The optimization routine for the three different types of motion are presented, which are integrated into physics informed neural networks. A component of this is the autonomy …
Forced Displacement Technique For Measuring Blunt Body Aerodynamics In A Magnetic Suspension Wind Tunnel, Mark Schoenenberger, David Cox, Colin Britcher, Caleb Hull
Forced Displacement Technique For Measuring Blunt Body Aerodynamics In A Magnetic Suspension Wind Tunnel, Mark Schoenenberger, David Cox, Colin Britcher, Caleb Hull
Mechanical & Aerospace Engineering Faculty Publications
The Old Dominion University/NASA Langley 6-Inch Magnetic Suspension Wind Tunnel has developed the ability to levitate blunt bodies which can oscillate freely about the yaw axis. This allows for the measurement of static and dynamic stability coefficients without sting interference. The magnetic suspension controller introduces other translational forces which affect the vehicle dynamics complicating data reduction. Exciting model oscillations in a reliable way has also been a challenge. A new test method has been developed that produces capsule oscillations from forced oscillatory translational motion at the resonant yaw oscillatory frequency of the capsule. After oscillations are excited, the translational forcing …
Comparison Of Dynamics Stability Testing Techniques With Magnetic Suspension Wind Tunnel Capabilities, Otoniel A. Ramirez, Mark Schoenenberger, David E. Cox, Colin P. Britcher
Comparison Of Dynamics Stability Testing Techniques With Magnetic Suspension Wind Tunnel Capabilities, Otoniel A. Ramirez, Mark Schoenenberger, David E. Cox, Colin P. Britcher
Mechanical & Aerospace Engineering Faculty Publications
Dynamic stability testing techniques currently utilized at NASA Langley Research Center (LaRC) are conducted in multiple facilities and consists of free flight, forced oscillation, and free-to-oscillate tests. The NASA/ODU Magnetic Suspension and Balance System (MSBS) has been recommissioned to explore its utility as an additional facility to expand the dynamic stability test capabilities currently available at NASA LaRC. Simulations were created to replicate each current test facility and method as closely as possible. Data collected from the simulated environments was corrupted with replicated noise sources of the different testing environments and then compared to real data collected during tests when …
Evaluation Of Murrell’S Ekf-Based Attitude Estimation Algorithm For Exploiting Multiple Attitude Sensor Configurations, Sharanabasaweshwara Asundi, Norman Fitz-Coy, Haniph Latchman
Evaluation Of Murrell’S Ekf-Based Attitude Estimation Algorithm For Exploiting Multiple Attitude Sensor Configurations, Sharanabasaweshwara Asundi, Norman Fitz-Coy, Haniph Latchman
Mechanical & Aerospace Engineering Faculty Publications
Pico- and nano-satellites, due to their form factor and size, are limited in accommodating multiple or redundant attitude sensors. For such satellites, Murrell's implementation of the extended Kalman filter (EKF) can be exploited to accommodate multiple sensor configurations from a set of non redundant attitude sensors. The paper describes such an implementation involving a sun sensor suite and a magnetometer as attitude sensors. The implementation exploits Murrell's EKF to enable three sensor configurations, which can be operationally commanded, for satellite attitude estimation. Among the three attitude estimation schemes, (i) sun sensor suite and magnetometer, (ii) magnetic field vector and its …
Relative Motion Guidance, Navigation And Control For Autonomous Orbital Rendezvous, Mohamed Okasha, Brett Newman
Relative Motion Guidance, Navigation And Control For Autonomous Orbital Rendezvous, Mohamed Okasha, Brett Newman
Mechanical & Aerospace Engineering Faculty Publications
In this paper, the dynamics of the relative motion problem in a perturbed orbital environment are exploited based on Gauss’ variational equations. The relative coordinate frame (Hill frame) is studied to describe the relative motion. A linear high fidelity model is developed to describe the relative motion. This model takes into account primary gravitational and atmospheric drag perturbations. In addition, this model is used in the design of a control, guidance, and navigation system of a chaser vehicle to approach towards and to depart from a target vehicle in proximity operations. Relative navigation uses an extended Kalman flter based on …