Motion model for a variable geometry truss (VGT) manipulator
Abstract
A Variable Geometry Truss (VGT) is, as its name implies, a truss structure that includes members of variable length (linear actuators.) Through the manipulation of the linear actuators, the truss can be maneuvered in a manner not unlike the motion of an elephant's trunk. It is one of a family of manipulators known as Tentacle Like Manipulators (TLMs.) This study presents a technique for the shape control of a VGT with linear actuators of finite length. It has also presents a technique for coordinating the motion of the VGT from position to position, including monitoring of the higher order kinematics. The results of a computer program developed to examine the techniques are also presented.
This paper has been withdrawn.