Engineering topics

Mcinnis, B. C.

Publications and source records attributed to Mcinnis, B. C..

6 records

NASA NTRS1988

Precise computer controlled positioning of robot end effectors using force sensors

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.

Shieh, L. S.↗

NASA NTRS1988

Control strategies

Techniques for improving the performance of robotic-manipulator path-control systems comprising independent SISO feedback controllers for each joint are discussed and illustrated with block diagrams, reviewing the results of recent analytical investigations. Topics examined include the servo design for a single link, the equations of motion for manipulators, SISO servo design for multiple links, inverse methods, pole placement with compensation of the gravity terms, linear state-feedback control based on the perturbation equations, and adaptive control methods. Consideration is given to variable-structure systems, suboptimal controllers, and the optimal-design-strategy approach.

Wang, J. C.↗

NASA NTRS1988

Precise computer controlled positioning of robot end effectors using sensory feedback

A preliminary study of the combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or to be extended to the multijoint robot manipulator problem, has been performed. The additional degrees of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control on the design of the inner position controller. Supportive simulation results are also provided.

Wang, J. C.↗

NASA NTRS1984

The 1984 NASA/ASEE summer faculty fellowship program

An overview is given of the program management and activities. Participants and research advisors are listed. Abstracts give describe and present results of research assignments performed by 31 fellows either at the Johnson Space Center, at the White Sands test Facility, or at the California Space Institute in La Jolla. Disciplines studied include engineering; biology/life sciences; Earth sciences; chemistry; mathematics/statistics/computer sciences; and physics/astronomy.

Mcinnis, B. C.↗

NASA NTRS1983

Identification of structural systems using naturally induced vibration data in the presence of measurement noise

The method of instrument variables for the identification of the parameters of structural systems excited by white noise in the presence of white measurement noise is applied. The requisite equations and the resulting consistent estimator are derived and simulation results for least squares and instrumental variables methods, for light and heavy damping, are compared. The present method gave better results than least squares when measurement noise was presented, and verified the fact that least squares yields an inconsistent estimator unless the measurement noise is zero.

Huan, S.-L.↗

NASA NTRS1983

Analysis of the random decrement method

Random decrement signatures have been introduced for use in the determination of the frequencies of oscillation, damping ratios and modes of vibration of structural systems from naturally induced vibration data. This paper gives an analysis of the random decrement method and the conditions which must be satisfied in order for the method to yield consistent estimates.

Huan, S.-L.↗