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USC Viterbi School of Engineering. Alternative CC Robotic Systems.

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Presentation on theme: "USC Viterbi School of Engineering. Alternative CC Robotic Systems."— Presentation transcript:

1 USC Viterbi School of Engineering. Alternative CC Robotic Systems

2 USC Viterbi School of Engineering.

3 USC Viterbi School of Engineering.

4 USC Viterbi School of Engineering.

5 USC Viterbi School of Engineering.

6 USC Viterbi School of Engineering.

7 USC Viterbi School of Engineering.

8 USC Viterbi School of Engineering.

9 USC Viterbi School of Engineering.

10 USC Viterbi School of Engineering.

11 USC Viterbi School of Engineering. Dynamic System Control Material Flow Computation Flow Control Law Position Sensors Nozzle Actuator Nozzle Control Law Robot Wheel Motors Flow Sensor Position Sensor Gantry Dynamic Model Gantry Dynamic Model Material Flow Dynamics Material Flow Dynamics System Dynamics Desired Material Flow Nozzle Position & Orientation Gantry Position Wheel Torques Nozzle Forces Commanded Position Material Flow + - + - Gantry Motion Controller

12 USC Viterbi School of Engineering.

13

14 USC Viterbi School of Engineering.

15 USC Viterbi School of Engineering. Structure-Riding robot

16 USC Viterbi School of Engineering.

17 USC Viterbi School of Engineering.

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