Correlation of PD Gains in Varying
Gravitational Environments
University of Maryland - College Park
This experiment proposes to verify the dynamics and control
algorithms for robotic manipulators in microgravity, and correlate the
results to neutral buoyancy simulation. To accomplish this, the University
of Maryland team will take an existing six degree-of-freedom manipulator,
developed and extensively tested in underwater simulations of
weightlessness, and modify it for KC-135A flight. This will include
mounting hardware to meet all KC-135A limit and ultimate loads, as well as
a structure to keep flight personnel out of the work envelope of the arms
at all times. The manipulator will be operated through simple repeated
motions in both the microgravity and hypergravity portions of the flight,
and results compared to manipulator dynamics and control stability in 1-G
and neutral buoyancy conditions. The results of this experiment will be a
new understanding of robotic motion in weightlessness, with applications to
future operations on the International Space Station.
