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At least 217 records · Page 12

All sources NASA NTRS DOE OSTI

NASA NTRS1992

Collision avoidance of a multiple degree of redundancy manipulator operating through a window

The problem of collision-free operation of a multiple-degree-of-redundancy manipulator operating through a window is addressed. An efficient gradient projection optimization scheme is presented for the kinematic control of manipulators with multiple degrees of redundancy. This scheme was developed for dextrous robotic and telerobotic applications in space station construction as well as in congested shop floor environment. A performance criterion is defined to maximize the shortest distances between the manipulator links and the edges of the window. Effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator.

Zghal, H.↗

NASA NTRS1992

Robot Control Based On Spatial-Operator Algebra

Method for mathematical modeling and control of robotic manipulators based on spatial-operator algebra providing concise representation and simple, high-level theoretical frame-work for solution of kinematical and dynamical problems involving complicated temporal and spatial relationships. Recursive algorithms derived immediately from abstract spatial-operator expressions by inspection. Transition from abstract formulation through abstract solution to detailed implementation of specific algorithms to compute solution greatly simplified. Complicated dynamical problems like two cooperating robot arms solved more easily.

Rodriguez, Guillermo↗

NASA NTRS1989

A decoupled recursive approach for constrained flexible multibody system dynamics

A variational-vector calculus approach is employed to derive a recursive formulation for dynamic analysis of flexible multibody systems. Kinematic relationships for adjacent flexible bodies are derived in a companion paper, using a state vector notation that represents translational and rotational components simultaneously. Cartesian generalized coordinates are assigned for all body and joint reference frames, to explicitly formulate deformation kinematics under small deformation kinematics and an efficient flexible dynamics recursive algorithm is developed. Dynamic analysis of a closed loop robot is performed to illustrate efficiency of the algorithm.

Lai, Hao-Jan↗

NASA NTRS1997

International Space Station (ISS) Accommodation of a Single US Assured Crew Return Vehicle (ACRV)

The following report was generated to give the International Space Station (ISS) Program some additional insight into the operations and issues associated with accommodating a single U.S. developed Assured Crew Return Vehicle (ACRV). During the generation of this report, changes in both the ISS and ACRV programs were factored into the analysis with the realization that most of the work performed will eventually need to be repeated once the two programs become more integrated. No significant issues associated with the ISS accommodating the ACRV were uncovered. Kinematic analysis of ACRV installation showed that there are viable methods of using Shuttle and Station robotic manipulators. Separation analysis demonstrated that the ACRV departure path clears the Station structure for all likely contingency scenarios. The payload bay packaging analysis identified trades that can be made between payload bay location, Shuttle Remote Manipulator System (SRMS) reach and eventual designs of de-orbit stages and docking adapters.

Mazanek, Daniel D.↗

NASA NTRS2011

Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

SunSpiral, Vytas↗

NASA NTRS1994

Free-floating dual-arm robots for space assembly

Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in a free-floating work environment requires a good understanding of primitives such as self motion of the robot, propulsion of the robot due to onboard thrusters, docking of the robot, retrieval of an object from a collection of objects, and release of an object in an object pool. The analytics of such assemblies involve not only kinematics and rigid body dynamics but also collision and impact dynamics of multibody systems. In an effort to understand such assemblies in zero gravity space environment, we are currently developing at Ohio University a free-floating assembly facility with a dual-arm planar robot equipped with thrusters, a free-floating material table, and a free-floating assembly table. The objective is to pick up workpieces from the material table and combine them into prespecified assemblies. This paper presents analytical models of assembly primitives and strategies for overall assembly. A computer simulation of an assembly is developed using the analytical models. The experiment facility will be used to verify the theoretical predictions.

Agrawal, Sunil Kumar↗

NASA NTRS2006

Modification of a Limbed Robot to Favor Climbing

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.

Okon, Avi↗

NASA NTRS1989

Shape control of high degree-of-freedom variable geometry trusses

Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Salerno, R. J.↗

NASA NTRS1991

SSSFD manipulator engineering using statistical experiment design techniques

The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

Barnes, John↗

NASA NTRS2020

3d Kinematic Passive-steering Control with Roll Compensation for Rover Trajectory Following Over Rough Terrain

Some of the most appealing areas for future planetary surface exploration lie in rough, uneven terrains, such as craters and cold traps, which are currently inaccessible by state-of-the-art robotic systems [1]. To provide modularity for access and in-situ sampling within such extreme environments, Jet Propulsion Laboratory (JPL) and California Institute of Technology have collaborated to develop the DuAxel rover system, a modular robot composed of two Axel rappelling vehicles docked to a central module into a four-wheeled configuration, suited for driving long distances due to articulated passivesteering capabilities [2]. Inspired by Carnegie Mellon’s Zoë rover [3], a 3D kinematic control strategy, leveraging a novel, DuAxel-centric model, has been developed to enable precise trajectory following over rough, flat terrain with presence of obstacles.

McGarey, Patrick↗

NASA NTRS1989

How to push a block along a wall

Some robot tasks require manipulation of objects that may be touching other fixed objects. The effects of friction and kinematic constraint must be anticipated, and may even be exploited to accomplish the task. An example task, a dynamic analysis, and appropriate effector motions are presented. The goal is to move a rectangular block along a wall, so that one side of the block maintains contact with the wall. Two solutions that push the block along the wall are discussed.

Mason, Matthew T.↗

NASA NTRS1992

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗

NASA NTRS1989

Dynamics and control of multibody/robotic systems with space applications; Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, Dec. 10-15, 1989

The present conference on the dynamics and control methods of multibody robotic systems applicable to outer space applications first gives attention to such topics in multibody dynamics and control as the substructure synthesis approach to flexible multibody system control, an elastic finite-element kinematic analysis of a multirigid body, computational methods for high speed vehicles on flexible guideways, and multiarm coordination and control. Attention is then given to such issues in space manipulator dynamics and control methods as the global navigation of a free-flying space robot, dynamic singularities in the control of free-floating space manipulators, experimental results for compact space robot actuator control, and a 17-degree-of-freedom dexterous manipulator.

Joshi, Suresh M.↗

NASA NTRSDate not supplied

Robotic Sunphotometry to Enable Over-ocean Aerosol Characterization

We present developmentsforthe Sea-going Sky-Scanning Sun-tracking Advanced Research Ra-diometer(SeaSTAR), a ship-basedinstrument for aerosol characterizationover the ocean. Sun-tracking measurements of spectral solar irradiance are madein the conventional manner using filter-photodiode radiometers, and co-aligned polarizing filters are switched into the optical paths of the radiometersto measure polarized sky-radiance measurements. A robust high-performance robot with camera-feedback sun-tracking, and inertial measurement unit feed-forward motion-compensationis used for the sun-and sky-viewing modes respectively. An inverse-kinematics solver is used to point the instrument at the chosen position relative to the sunand ensure that the polarizer axis remains in the desired orientation, allowing the Stokes vector components of the sky radiance to be resolved by rotating the measurement barrel about a third robot axis. SeaSTAR aims to provide a resource for cost-effective validation of aerosol property measurements over the oceans in support of satellite missions such as PACE, SBG and GLIMR.

Robotic↗

NASA NTRS1989

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nguyen, Charles C.↗

NASA NTRS2004

NASA Tech Briefs, October 2004

Topics include: Relative-Motion Sensors and Actuators for Two Optical Tables; Improved Position Sensor for Feedback Control of Levitation; Compact Tactile Sensors for Robot Fingers; Improved Ion-Channel Biosensors; Suspended-Patch Antenna With Inverted, EM-Coupled Feed; System Would Predictively Preempt Traffic Lights for Emergency Vehicles; Optical Position Encoders for High or Low Temperatures; Inter-Valence-Subband/Conduction-Band-Transport IR Detectors; Additional Drive Circuitry for Piezoelectric Screw Motors; Software for Use with Optoelectronic Measuring Tool; Coordinating Shared Activities; Software Reduces Radio-Interference Effects in Radar Data; Using Iron to Treat Chlorohydrocarbon-Contaminated Soil; Thermally Insulating, Kinematic Tensioned-Fiber Suspension; Back Actuators for Segmented Mirrors and Other Applications; Mechanism for Self-Reacted Friction Stir Welding; Lightweight Exoskeletons with Controllable Actuators; Miniature Robotic Submarine for Exploring Harsh Environments; Electron-Spin Filters Based on the Rashba Effect; Diffusion-Cooled Tantalum Hot-Electron Bolometer Mixers; Tunable Optical True-Time Delay Devices Would Exploit EIT; Fast Query-Optimized Kernel-Machine Classification; Indentured Parts List Maintenance and Part Assembly Capture Tool - IMPACT; An Architecture for Controlling Multiple Robots; Progress in Fabrication of Rocket Combustion Chambers by VPS; CHEM-Based Self-Deploying Spacecraft Radar Antennas; Scalable Multiprocessor for High-Speed Computing in Space; and Simple Systems for Detecting Spacecraft Meteoroid Punctures.

Source record↗

NASA NTRS1980

Upgrading the free flying rendezvous and docking simulator and the orbital servicer system

Recommendations are made for upgrading two teleoperator/robotics test and simulation systems based upon a review of latest technology advances in the involved disciplines. A second generation Free Flying Mobility Unit is recommended which adds a sixth degree of freedom and incorporates other improvements which greatly expand the center's capability to perform evaluation tests and demonstrations of advanced systems concepts for rendezvous and docking in support of the Teleoperator Maneuvering System (TMS) Program. The Orbital Servicer System provides the capability for testing and demonstrating concepts for on orbit servicing of compatibly designed satellites/payloads. The TMS is to be the transporting vehicle for the servicer. The manipulator arm of the Orbital service System is presently computer controlled in the trajectory portion of the module transfer operation. The ultimate objective is to fully automte its operation requiring additional capabilities in sensors, artificial intelligence, image analysis, communications, computer programming, pattern recognition, kinematics, and manipulator design. It is recommended that the Electronics and Control Laboratory move to acquire the basic competencies in robotics necessary to achieve full automation.

Eastman, R. M.↗

NASA NTRS1988

Modelling and control of two coordinated robot arms

Two coordinated robot arms are modeled by considering the two arms as working on the same object simultaneously and as a closed kinematic chain. In both formulations, a novel dynamic control method is used which is based on feedback linearization and simultaneous output decoupling.

Tarn, T. J.↗