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Final Project ME 270

Final Project ME 270. NASA CDSL 6-DOF Platform Jesse Kaneko. Background. Implementation of feedforward element to increase the dynamic response of the system Due to accuracy issues, positioning has marginal error Weight of platform and payload not accounted for. Platform. Purpose.

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Final Project ME 270

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  1. Final Project ME 270 NASA CDSL 6-DOF Platform Jesse Kaneko

  2. Background • Implementation of feedforward element to increase the dynamic response of the system • Due to accuracy issues, positioning has marginal error • Weight of platform and payload not accounted for

  3. Platform

  4. Purpose • Get current leg lengths and forces • Calculate motion for acceleration, velocity, and position • Develop PID to compare feedforward element • Make use of block diagrams

  5. Motion

  6. CAMP-G • Through the use of CAMP-G the bond graph can be attained and from the bond graph the desired outputs can be attained • From a physical model a bond graph can be created

  7. MATLAB

  8. SIMULINK • Use block diagram to help develop two PID’s, one with feedforward element one without

  9. Conclusions • CAMP-G develops bond graph • Bond graph interfaces with MATLAB • MATLAB allows full control to motion • SIMULINK develops block diagrams • Block diagrams help develop PID’s

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