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SME MS910315
- Analysis And Improvements Of A Real-Time Robot Tracking System At Kennedy Space Center
- standard by Society of Manufacturing Engineers, 06/01/1991
- Publisher: SME
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THE USE OF ROBOTICS IS BEING EXPLORED BY NASA FOR PREPARATION AND LAUNCH OF SPACE VEHICLES. ONE PROJECT CURRENTLY UNDERWAY IS THE DEVELOPMENT OF A REAL-TIME TRACKING SYSTEM FOR MATING UMBILICAL CONNECTIONS TO A SHUTTLE ON THE LAUNCH PAD. THIS PAPER BRIEFLY DESCRIBES THE HARDWARE AND INTEGRATION OF THE COMPONENTS IN THIS SYSTEM. NEXT A MODEL OF THE SYSTEM IS DESCRIBED WHICH INCLUDES PLOTS OF THE TRACKING SYSTEM. FINALLY, AN ALGORITHM IS DESCRIBED TO SELF-TUNE THE GAINS IN THE SOFTWARE CONTROL SYSTEM. ANALYSIS IS PROVIDED FOR VARIABLES THAT AFFECT THESE GAINS. DIFFERENT TRACKING PERFORMANCE CRITERIA ALSO ARE DISCUSSED.
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