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dc.creatorPafford, Jeffrey Alexander
dc.date.accessioned2012-06-07T22:37:51Z
dc.date.available2012-06-07T22:37:51Z
dc.date.created1994
dc.date.issued1994
dc.identifier.urihttps://hdl.handle.net/1969.1/ETD-TAMU-1994-THESIS-P127
dc.descriptionDue to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item.en
dc.descriptionIncludes bibliographical references.en
dc.description.abstractThis 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.en
dc.format.mediumelectronicen
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherTexas A&M University
dc.rightsThis thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use.en
dc.subjectmechanical engineering.en
dc.subjectMajor mechanical engineering.en
dc.titleOpen loop control for six degree of freedom alignment using phase plane methodsen
dc.typeThesisen
thesis.degree.disciplinemechanical engineeringen
thesis.degree.nameM.S.en
thesis.degree.levelMastersen
dc.type.genrethesisen
dc.type.materialtexten
dc.format.digitalOriginreformatted digitalen


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