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NASA NTRS2002

Tool actuation and force feedback on robot-assisted microsurgery system

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Das, Hari↗

NASA NTRS1991

A novel design for a hybrid space manipulator

Described are the structural design, kinematics, and characteristics of a robot manipulator for space applications and use as an articulate and powerful space shuttle manipulator. Hybrid manipulators are parallel-serial connection robots that give rise to a multitude of highly precise robot manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. Some basic designs and kinematic structures of these robot manipulators are discussed, the associated direct and inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength-to-weight ratio that is many times larger than the value that is currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress-compensated and have an ultralight weight, yet, they are extremely stiff due to the fact that force distribution in their structure is mostly axial. Actuation is prismatic and can be provided by ball screws for maximum precision.

Shahinpoor, MO↗

NASA NTRS2003

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Non-NASA Center↗

NASA NTRS2003

Device for Automated Cutting and Transfer of Plant Shoots

A device that enables the automated cutting and transfer of plant shoots is undergoing development for use in the propagation of plants in a nursery or laboratory. At present, it is standard practice for a human technician to use a knife and forceps to cut, separate, and grasp a plant shoot. The great advantage offered by the present device is that its design and operation are simpler than would be those of a device based on the manual cutting/separation/grasping procedure. [The present device should not be confused with a prior device developed for partly the same purpose and described in Compliant Gripper for a Robotic Manipulator (NPO-21104), NASA Tech Briefs, Vol. 27, No. 3 (March 2003), page 59.]. The device (see figure) includes a circular tube sharpened at its open (lower) end and mounted on a robotic manipulator at its closed (upper) end. The robotic manipulator simply pushes the sharpened open end of the tube down onto a bed of plants and rotates a few degrees clockwise then counterclockwise about the vertical axis, causing the tube to cut a cylindrical plug of plant material. Exploiting the natural friction between the tube and plug, the tube retains the plug, without need for a gripping mechanism and control. The robotic manipulator then retracts the tube, translates it to a new location over a plant-growth tray, and inserts the tube part way into the growth medium at this location in the tray. A short burst of compressed air is admitted to the upper end of the tube to eject the plug of plant material and drive it into the growth medium. A prototype has been tested and verified to function substantially as intended. It is projected that in the fully developed robotic plant-propagation system, the robot control system would include a machine- vision subsystem that would automatically guide the robotic manipulator in choosing the positions from which to cut plugs of plant material. Planned further development efforts also include more testing and refinement of the design and operation described above.

Cipra, Raymond↗

NASA NTRS1977

Robots and Manipulator Systems. Part 2

This book represents a conference on robots and manipulator systems. Topics discussed include: mathematical modeling systems integrators, the use of TV monitors for remote operation of machinery on earth and in space, an evaluation of various control modes, remotely piloted aircraft, undersea operations, and prosthetic devices for the physically handicapped.

Heer, E.↗

NASA NTRS2013

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

Future human and robotic sample return missions will require isolation containment systems with strict protocols and procedures for reducing inorganic and organic contamination. Robotic handling and manipulation of astromaterials may be required for preliminary examination inside such an isolation containment system. In addition, examination of astromaterials in microgravity will require constant contact to secure samples during manipulation. The National Space Grant Foundation exploration habitat (XHab) academic innovative challenge 2012 administered through the NASA advanced exploration systems (AES) deep space habitat (DSH) project awarded funding to the University of Bridgeport team to develop an engineering design for tools to facilitate holding and handling geological samples for analysis in a microgravity glovebox environment. The Bridgeport XHab team developed a robotic arm system with a three-finger gripper that could manipulate geologic samples within the existing GeoLab glovebox integrated into NASA's DSH called the GeoLab Robotic Sample Manipulator (see fig. 1 and 2). This hardware was deployed and tested during the 2012 DSH mission operations tests [1].

Bell, Mary S.↗

NASA NTRS1993

Inertial-space disturbance rejection for space-based manipulators

The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without relying on direct end-point sensing. However, this assumption is invalid if there is a significant delay in the platform position and attitude measurements, or if the kinematics of the platform are not well known, or if the platform is a non-rigid structure. In the more likely case that only the nominal platform location and upper bound on the disturbance signal are known, direct end-point sensing is needed to measure the end-effector location.

Holt, Kevin↗

NASA NTRS1994

Self-Reconfigurable Two-Arm Manipulator With Bracing

Proposed two-arm robotic manipulator capable of changing its mechanical structure to fit given task. No reassembly or replacement in conventional sense: instead, arms commanded during operation to assume any of number of alternative configurations, described briefly in "Dynamic Coordination of a Two-Arm Robotic Manipulator" (NPO-18816), NASA Tech Briefs.

Lee, Sukhan↗

NASA NTRS1994

A force-controllable macro-micro manipulator and its application to medical robots

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

Marzwell, Neville I.↗

NASA NTRS1987

A universal six-joint robot controller

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Bihn, D. G.↗

NASA NTRS1996

Mathematical Modeling For Control Of A Flexible Manipulator

Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.

Hu, Anren↗

NASA NTRS2014

Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.

Doggett, William R.↗

NASA NTRS2014

Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

Doggett, William R.↗

NASA NTRS1997

[Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology]

This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

Tesar, Delbert↗

NASA NTRS1997

Task Space Angular Velocity Blending for Real-Time Trajectory Generation

The invention is embodied in a method of controlling a robot manipulator moving toward a target frame F(sub 0) with a target velocity v(sub 0) including a linear target velocity v and an angular target velocity omega(sub 0) to smoothly and continuously divert the robot manipulator to a subsequent frame F(sub 1) by determining a global transition velocity v(sub 1), the global transition velocity including a linear transition velocity v(sub 1) and an angular transition velocity omega(sub 1), defining a blend time interval 2(tau)(sub 0) within which the global velocity of the robot manipulator is to be changed from a global target velocity v(sub 0) to the global transition velocity v(sub 1) and dividing the blend time interval 2(tau)(sub 0) into discrete time segments (delta)t. During each one of the discrete time segments delta t of the blend interval 2(tau)(sub 0), a blended global velocity v of the manipulator is computed as a blend of the global target velocity v(sub 0) and the global transition velocity v(sub 1), the blended global velocity v including a blended angular velocity omega and a blended linear velocity v, and then, the manipulator is rotated by an incremental rotation corresponding to an integration of the blended angular velocity omega over one discrete time segment (delta)t.

Volpe, Richard A.↗

NASA NTRS2010

Robotic Arm Comprising Two Bending Segments

The figure shows several aspects of an experimental robotic manipulator that includes a housing from which protrudes a tendril- or tentacle-like arm 1 cm thick and 1 m long. The arm consists of two collinear segments, each of which can be bent independently of the other, and the two segments can be bent simultaneously in different planes. The arm can be retracted to a minimum length or extended by any desired amount up to its full length. The arm can also be made to rotate about its own longitudinal axis. Some prior experimental robotic manipulators include single-segment bendable arms. Those arms are thicker and shorter than the present one. The present robotic manipulator serves as a prototype of future manipulators that, by virtue of the slenderness and multiple- bending capability of their arms, are expected to have sufficient dexterity for operation within spaces that would otherwise be inaccessible. Such manipulators could be especially well suited as means of minimally invasive inspection during construction and maintenance activities. Each of the two collinear bending arm segments is further subdivided into a series of collinear extension- and compression-type helical springs joined by threaded links. The extension springs occupy the majority of the length of the arm and engage passively in bending. The compression springs are used for actively controlled bending. Bending is effected by means of pairs of antagonistic tendons in the form of spectra gel spun polymer lines that are attached at specific threaded links and run the entire length of the arm inside the spring helix from the attachment links to motor-driven pulleys inside the housing. Two pairs of tendons, mounted in orthogonal planes that intersect along the longitudinal axis, are used to effect bending of each segment. The tendons for actuating the distal bending segment are in planes offset by an angle of 45 from those of the proximal bending segment: This configuration makes it possible to accommodate all eight tendons at the same diameter along the arm. The threaded links have central bores through which power and video wires can be strung (1) from a charge-coupled-device camera mounted on the tip of the arms (2) back along the interior of the arm into the housing and then (3) from within the housing to an external video monitor.

Mehling, Joshua S.↗

NASA NTRS1988

Robots for manipulation in a micro-gravity environment

This paper is concerned with the development of control strategies and mechanisms for robots operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. Approaches discussed for controlling the robot base reactions/motions include strategies making use of manipulators with redundant degrees of freedon, actuators at the robot base, and a redundant (balancing) arm. Two degree-of-freedom, traction-drive joints are discussed as well as the conceptual design for a traction-driven manipulator.

Quinn, R. D.↗

NASA NTRS1992

Analyzing Robotic Kinematics Via Computed Simulations

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

Carnahan, Timothy M.↗