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Presenter: Mr. Alec Lin - Department of Mechanical Engineering
Supervisor:

Date: Thu, March 22, 2001
Time: 13:30:00 - 14:30:00
Place: EOW 230

ABSTRACT

ABSTRACT

With the development of modern space techniques, more and more robotic manipulations are proposed for space operations. Most of these operations involve constrained motions or contact tasks, when the manipulator comes in contact with other objects. Every manipulator operation on the space station must be first validated by computer simulation and terrestrial simulation to ensure its feasibility and reliability before the risk of performing it in space. During the 1990s, MacDonald Dettwiler Space and Advanced Robotics (MDR) developed the Manipulator Development and Simulation Facility (MDSF), which is capable of providing dynamics simulations of arbitrary robotic manipulator in multi-body contact environment. The principal motivation for the present research project stems from the need to have a reliable means of identifying friction parameters from experimental data collected during real operations of space manipulators.

In this work, the characteristics of friction and the friction models developed to capture them are presented. An optimization-based friction parameter identification method is proposed, after investigation of friction models and non-linear identification techniques. The identification method is verified through numerical simulation and used to identify friction parameters from experimental data. This synthesized method can also be used to identify parameters for other non-linear models. The friction parameter identification scheme will provide the users of MDSF an effective approach to obtain contact dynamic parameters from experimental data. The contact parameters and in particular the friction parameters are necessary for simulation, design and mission planning of space manipulator systems.

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For Further Information Please Contact: Alec Lin (721-8699)