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

3. Platform

4. Purpose Get current leg lengths and forces Get current leg lengths and forces Calculate motion for acceleration, velocity, and position Calculate motion for acceleration, velocity, and position Develop PID to compare feedforward element Develop PID to compare feedforward element Make use of block diagrams 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 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 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 Use block diagram to help develop two PID’s, one with feedforward element one without

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