ESMD Systems Engineering Student Paper Competition Cooperative Robots for Space Habitat Construction
نویسنده
چکیده
........................................................................................................................................................ 6 Project Objectives ......................................................................................................................................... 6 Background ................................................................................................................................................... 8 Team Structure ......................................................................................................................................... 8 Systems-Engineering Process.................................................................................................................... 9 Project Evolution ....................................................................................................................................... 9 Phase I ................................................................................................................................................. 10 Phase II ................................................................................................................................................ 11 Robotic-Design Complexity ..................................................................................................................... 15 Selected Robotic Platform ...................................................................................................................... 16 Mechanical-Claw Design ......................................................................................................................... 18 Subsystem Design ................................................................................................................................... 20 Wireless Communication .................................................................................................................... 20 Overhead Camera System ................................................................................................................... 21 Odometry ............................................................................................................................................ 24 Kalman-Filter Theory ........................................................................................................................... 26 Path Planning and Single-Robot Trajectory Tracking .......................................................................... 27 Control-Design Team Objectives and Results ............................................................................................. 29 Cooperative-Control Design .................................................................................................................... 30 Configuration A ................................................................................................................................... 30 Configuration B ................................................................................................................................... 30 Configuration C ................................................................................................................................... 32 Kalman-Filter Design and Implementation ............................................................................................. 33 Software-Design Team Objectives and Results .......................................................................................... 36 Wireless Communication ........................................................................................................................ 36 Odometry Data ....................................................................................................................................... 37
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