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At least 199 records · Page 11

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NASA NTRS1990

Kinematically redundant arm formulations for coordinated multiple arm implementations

Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation.

Robert W Bailey↗

NASA NTRS1989

Kinematic sensitivity of robot manipulators

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

Vuskovic, Marko I.↗

NASA NTRS1989

Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

Hennessey, Michael P.↗

NASA NTRS1990

The kinematics and dynamics of space manipulators - The virtual manipulator approach

Future robotic manipulator systems will be required to perform complex tasks in space such as satellite repair. These robotic manipulators will encounter a number of kinematic, dynamic, and control problems caused by the dynamic coupling between the manipulators and its spacecraft. This dynamic coupling also makes it difficult to analyze these systems. This paper introduces a new analytical modeling method for space manipulators called the Virtual Manipulator (VM), which has a fixed based in inertial space at a point called a Virtual Ground. The kinematics and dynamics of the manipulator, spacecraft, and payload can be described relatively easily in terms of the VM. With its fixed base, the Virtual Manipulator is shown to have the potential to be an effective aid for the analysis, design, and development of future space manipulator systems.

Vafa, Z.↗

NASA NTRS1991

The Kinematics of Turbulent Boundary Layer Structure

The long history of research into the internal structure of turbulent boundary layers has not provided a unified picture of the physics responsible for turbulence production and dissipation. The goals of the present research are to: (1) define the current state of boundary layer structure knowledge; and (2) utilize direct numerical simulation results to help close the unresolved issues identified in part A and to unify the fragmented knowledge of various coherent motions into a consistent kinematic model of boundary layer structure. The results of the current study show that all classes of coherent motion in the low Reynolds number turbulent boundary layer may be related to vortical structures, but that no single form of vortex is representative of the wide variety of vortical structures observed. In particular, ejection and sweep motions, as well as entrainment from the free-streem are shown to have strong spatial and temporal relationships with vortical structures. Disturbances of vortex size, location, and intensity show that quasi-streamwise vortices dominate the buffer region, while transverse vortices and vortical arches dominate the wake region. Both types of vortical structure are common in the log region. The interrelationships between the various structures and the population distributions of vortices are combined into a conceptual kinematic model for the boundary layer. Aspects of vortical structure dynamics are also postulated, based on time-sequence animations of the numerically simulated flow.

Robinson, Stephen Kern↗

NASA NTRS1990

Development of a sensor coordinated kinematic model for neural network controller training

A robotic benchmark problem useful for evaluating alternative neural network controllers is presented. Specifically, it derives two camera models and the kinematic equations of a multiple degree of freedom manipulator whose end effector is under observation. The mapping developed include forward and inverse translations from binocular images to 3-D target position and the inverse kinematics of mapping point positions into manipulator commands in joint space. Implementation is detailed for a three degree of freedom manipulator with one revolute joint at the base and two prismatic joints on the arms. The example is restricted to operate within a unit cube with arm links of 0.6 and 0.4 units respectively. The development is presented in the context of more complex simulations and a logical path for extension of the benchmark to higher degree of freedom manipulators is presented.

Jorgensen, Charles C.↗

NASA NTRS1990

High spectral resolution observations and kinematic modeling of the 1667 MHz hyperfine transition of OH in Comets Halley (1982i), Giacobini-Zinner (1984e), Hartley-Good (1985l), Thiele (1985m), and Wilson (1986l)

High-sensitivity, high spectral resolution 18 cm observations of Comets Giacobini-Zinner, Halley, Hartley-Good, Thiele, and Wilson are used here to probe the kinematics of the coma gas of these comets. The day/night outgassing ratio for all these comets is 1.39 (0.13 or - 0.12), independent of gas productivity and heliocentric distance. It is found that the gas productivity of a comet plays a critical role in determining the coma kinematics for bright comets near the sun.

Tacconi-Garman, L. E.↗

NASA NTRS1990

A kinematic model for the late Cenozoic development of southern California crust and upper mantle

A model is developed for the young and ongoing kinematic deformation of the southern California crust and upper mantle. The kinematic model qualitatively explains both the overall seismic structure of the upper mantle and much of the known geological history of the late Cenozoic as consequences of ongoing convection beneath southern California. In this model, the high-velocity upper-mantle anomaly of the Transverse ranges is created through the convergence and sinking of the entire thickness of subcrustal lihtosphere, and the low-velocity upper-mantle anomaly beneath the Salton Trough region is attributed to high temperatures and 1-4 percent partial melt related to adiabatic decompression during mantle upwelling.

Humphreys, Eugene D.↗

NASA NTRS1991

Three-dimensional kinematic reconnection of plasmoids

The kinematic reconnection model of Lau and Finn (1990) is applied in a theoretical investigation of three-dimensional plasmoid morphology, as seen in the solar corona and earth magnetotail. The derivation of the governing equations is outlined; long, short, and periodic plasmoid models are developed; and the evolution of the stable and unstable manifolds in these models is presented graphically. It is inferred that sheet currents and tangential discontinuities can form on surfaces topologically identical to those where Delta(phi) about equal to Delta(z) singularities occur in the kinematic reconnection model, and can be broadened in a similar way by nonideal effects. Two such surfaces exist in long plasmoids, and also in short plasmoids in the presence of finite resistivity; the intertwined surfaces characteristic of the periodic plasmoid form a fractal set but merge in the presence of finite resistivity, producing structures similar to those proposed by the sheet-current theory of Parker (1983).

Lau, Yun-Tung↗

NASA NTRS1992

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

Williams, Robert L., II↗

NASA NTRS1992

Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator 2

The forward position and velocity kinematics for the redundant eight-degree-of-freedom Advanced Research Manipulator 2 (ARM2) are presented. Inverse position and velocity kinematic solutions are also presented. The approach in this paper is to specify two of the unknowns and solve for the remaining six unknowns. Two unknowns can be specified with two restrictions. First, the elbow joint angle and rate cannot be specified because they are known from the end-effector position and velocity. Second, one unknown must be specified from the four-jointed wrist, and the second from joints that translate the wrist, elbow joint excluded. There are eight solutions to the inverse position problem. The inverse velocity solution is unique, assuming the Jacobian matrix is not singular. A discussion of singularities is based on specifying two joint rates and analyzing the reduced Jacobian matrix. When this matrix is singular, the generalized inverse may be used as an alternate solution. Computer simulations were developed to verify the equations. Examples demonstrate agreement between forward and inverse solutions.

Williams, Robert L., II↗

NASA NTRS1991

Is the kinematically distinct core in NGC 5982 necessarily the remnant of an accreted companion?

NGC 5982 is an elliptical galaxy with a 'kinematically distinct core' whose projected rotation axis is about 90 deg away from that of the galaxy's outer parts. Distinct cores in other ellipticals have been attributed to dynamically distinct subsystems that are the remnants of accreted companions. Here, a model for NGC 5982 is presented in which the kinematic twist in the core results simply from the projection of the major families of circulating orbits in a triaxial potential. Orbits in the model are populated smoothly, and the core is not a dynamical subsystem. The model predicts a complicated overall velocity field for the galaxy, with particularly low velocity amplitudes (15 km/s or less) along a direction 150 deg counterclockwise from the major axis, a direction not yet observed spectroscopically.

Statler, Thomas S.↗

NASA NTRS1991

Origin of kinematic subsystems in elliptical galaxies

The formation of a counterrotating central gas disk in a merger of two gas-rich disk galaxies of equal mass is demonstrated. Such a structure may well account for the unusual gas kinematics found in the merger remnant NGC7252. Continued star formation in such gaseous disks may produce central components with decoupled kinematics resembling the cores of some elliptical galaxies.

Hernquist, Lars↗

NASA NTRS1991

Spatial operator approach to under-actuated manipulator kinematics and dynamics

A study is made of the kinematics and dynamics of under-actuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix, and an efficient inverse dynamics computational algorithm.

Jain, A.↗

NASA NTRS1992

Global/local analysis of laminated composite plates using variable kinematic finite elements

A finite element modeling methodology is developed for the hierarchical, global/local analysis of laminated composite plates. The method incorporates a new variable kinematics, displacement-based, finite element that is developed using a multiple assumed displacement field approach. The variable kinematic elements provide a great degree of flexibility in defining the transverse (through thickness) variation of the assumed displacement field. The resulting finite element model permits different subregions of the computational domain to be described by different mathematical models. Enforcing displacement continuity along subregion boundaries requires only the specification of certain homogeneous essential boundary conditions, thus avoiding the inconvenience of multi-point constraints, penalty function methods, or special transition elements.

Robbins, D. H., Jr.↗

NASA NTRS1992

A kinematic analysis of the modified flight telerobotic servicer manipulator system

A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

Crane, Carl↗

NASA NTRS1992

Inverse kinematics problem in robotics using neural networks

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Choi, Benjamin B.↗

NASA NTRS1993

The effect of tidal fields on the shapes and kinematics of dark halos

We have carried out a series of N-body simulations to investigate the effect of tidal shear on the structure and kinematics of dark halos. We simulate the collapse of density perturbations using a tree code as described in Dubinski & Carlberg (1991). Density peaks are selected from a random realization of a CDM density field and used as the initial conditions for N-body simulations. We use an experimental approach to examine the effects of tidal shear on collapse. The cosmological tidal field is treated as an external time dependent potential whose strength and orientation can be varied freely. We examine the effects of the tidal field with two experiments. In the first experiment, we simulate a sample of 14 dark halos from the collapse of density peaks in the presence of a 1(sigma) tidal field. In the second experiment, we use the same initial conditions though the tidal field is turned off allowing an experimental control for comparison to highlight the influence of tidal shear on the development of the structure and kinematics of the dark halos.

Dubinski, John↗