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Graduate Projects


Project ID: 230
Author: William A. Jackson
Project Title: Robotic Arm Test Module Simulation
Semester: Summer 2004
Committe Chair: Dr. Michelle Moore
Committee Member 1: Dr. Dulal Kar
Committee Member 2: Dr. Long-ahuang Li
Project Description: Trajectory planning refers to the ability of a robot to plan its motions. The robotic arms on the International Space Station (ISS) and the Space Shuttle are currently hand operated by two humans [Rogers 1998]. It is the intention of NASA to develop software modules that automatically calculate a near optimal path trajectory with little human intervention. This project developed modules to perform such a task by use of genetic algorithms. The objective was to place the end effector as close as possible to a predetermined destination point in three-dimensional space. The algorithm developed decreased the distance from the destination as population size, number of generations, and number of processors were incresed.
Project URL:   230.pdf