Description
JOOEE is a cube-shaped lunar robot with a simple yet robust design. JOOEE ishermetically sealed from its environment with no external actuators. Instead, JOOEE spins
three internal orthogonal flywheels to accumulate angular momentum and uses a solenoid
brake at each wheel to transfer the angular momentum to the body. This procedure allows
JOOEE to jump and hop along the lunar surface. The sudden transfer in angular momentum
during braking causes discontinuities in JOOEE’s dynamics that are best described using
a hybrid control framework. Due to the irregular methods of locomotion, the limited
resources on the lunar surface, and the unique mission objectives, optimal control profiles
are desired to minimize performance metrics such as time, energy, and impact velocity
during different maneuvers. This paper details the development of an optimization tool that
can handle JOOEE’s dynamics including the design of a hybrid control framework,
dynamics modeling and discretization, optimization cost functions and constraints, model
validation, and code acceleration techniques.
Details
Title
- Optimal Control for Lunar Tumbling Robot
Contributors
- Breaux, Christopher (Author)
- Yong, Sze Z (Thesis advisor)
- Marvi, Hamid (Committee member)
- Xu, Zhe (Committee member)
- Arizona State University (Publisher)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2021
Subjects
Resource Type
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Note
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Partial requirement for: M.S., Arizona State University, 2021
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Field of study: Mechanical Engineering