Abstract
This thesis will discuss how the Targeting and Reflective Alignment Concept (TRAC), developed by Lockheed for Johnson Space Center, is enhanced by converting it into an automated process. A brief discussion outlining the Automated TRAC passive target and an explanation of the automated target recognition scheme, developed by researchers at Texas A&M, will be covered first for completeness. The main objective of this thesis is to explain how the pose information acquired by the target recognition scheme is converted into velocity control signals to align the end effector. To time-optimize the alignment process, the manipulator will move in six degrees of freedom. The pose information must be kinematically transformed to a fixed coordinate system before alignment can take place. Finally, an open loop, onoff control scheme is developed which minimizes the time required to align the end effector to the target.
Pafford, Jeffrey Alexander (1994). Open loop control for six degree of freedom alignment using phase plane methods. Master's thesis, Texas A&M University. Available electronically from
https : / /hdl .handle .net /1969 .1 /ETD -TAMU -1994 -THESIS -P127.