Engineering topics

Dionise, Joseph

Publications and source records attributed to Dionise, Joseph.

2 records

NASA NTRS1990

A world model based approach to manipulator control

A dynamic world model is presented on which all planning, sensing, and control functions are based. A planning system that specifies how task are to be performed and the method used for sensing the state of the task are presented. The objectives of the control law and the algorithm used in the controller are given. Practical considerations are addressed, and some important details, such as the use of the null task, are explained. An example task of opening a door is examined.

Walker, Michael W.↗

NASA NTRS1989

On the simulation of space based manipulators with contact

An efficient method of simulating the motion of space based manipulators is presented. Since the manipulators will come into contact with different objects in their environment while carrying out different tasks, an important part of the simulation is the modeling of those contacts. An inverse dynamics controller is used to control a two armed manipulator whose task is to grasp an object floating in space. Simulation results are presented and an evaluation is made of the performance of the controller.

Walker, Michael W.↗