| タイトル | Robot tracking system improvements and visual calibration of orbiter position for radiator inspection |
| 本文（外部サイト） | http://hdl.handle.net/2060/19910010724 |
| 著者（英） | Tonkay, Gregory |
| 著者所属（英） | Lehigh Univ. |
| 発行日 | 1990-09-01 |
| 言語 | eng |
| 内容記述 | The following separate topics are addressed: (1) improving a robotic tracking system; and (2) providing insights into orbiter position calibration for radiator inspection. The objective of the tracking system project was to provide the capability to track moving targets more accurately by adjusting parameters in the control system and implementing a predictive algorithm. A computer model was developed to emulate the tracking system. Using this model as a test bed, a self-tuning algorithm was developed to tune the system gains. The model yielded important findings concerning factors that affect the gains. The self-tuning algorithms will provide the concepts to write a program to automatically tune the gains in the real system. The section concerning orbiter position calibration provides a comparison to previous work that had been performed for plant growth. It provided the conceptualized routines required to visually determine the orbiter position and orientation. Furthermore, it identified the types of information which are required to flow between the robot controller and the vision system. |
| NASA分類 | CYBERNETICS |
| レポートNO | 91N20037 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/133557 |
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