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NASA NTRS1986

Elastic robot control - Nonlinear inversion and linear stabilization

An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s).

Singh, S. N.↗

NASA NTRS1987

Effect of control sampling rates on model-based manipulator control schemes

The effect of changing the control sampling period on the performance of the computed-torque and independent joint control schemes is discussed. While the former utilizes the complete dynamics model of the manipulator, the latter assumes a decoupled and linear model of the manipulator dynamics. Researchers discuss the design of controller gains for both the computed-torque and the independent joint control schemes and establish a framework for comparing their trajectory tracking performance. Experiments show that within each scheme the trajectory tracking accuracy varies slightly with the change of the sampling rate. However, at low sampling rates the computed-torque scheme outperforms the independent joint control scheme. Based on experimental results, researchers also conclusively establish the importance of high sampling rates as they result in an increased stiffness of the system.

Khosla, P. K.↗

NASA NTRS1988

Dynamic control of robot arms in tasks space using nonlinear feedback

Differential geometric system and control theory is used to develop a new dynamic system feedback technique for robot task space commands. The nonlinear robot arm system is feedback-linearized and simultaneously is output-decoupled by an appropriate nonlinear feedback and nonlinear coordinate transformation. On the joint space level, the scheme only commands drive forces or torques or their equivalent quantities addressed to the joint drives. An important property of the technique is that the planned and commanded task space trajectory together with its time derivatives directly drive the robot arm through a linear system model. A method for task space motion planning matching the requirements of the new scheme is briefly presented. The implications of the new technique for second and third order model robot arms with and without force feedback measuremnts and for two or more dynamically cooperating robot arms are discussed.

Bejczy, A. K.↗

NASA NTRS1990

Cartesian-based control of a deformable robot manipulator

A control scheme for the 6-DOF Cincinnati-Milacron T3 robot arm is developed and demonstrated by means of numerical simulations. The arm is modeled as an open-loop articulated system with both actuators and position and velocity sensors at each joint, and a Cartesian-frame control algorithm is constructed in which (1) an adaptive scheme decouples the end-effector subsystem from the complex highly nonlinear main system and (2) a servo scheme drives the reduced system to follow a presumed end-effector trajectory on the basis of the Cartesian-frame feedback gains. The velocity transformation used to transfer the control forces from the Cartesian frame to joint-based space is explained, and the simulation results are presented in extensive graphs and diagrams. The control is found to respond well to system-topology changes and robot-environment impacts.

Chang, C. W.↗

NASA NTRS1985

Design and Fabrication of the NASA Decoupler Pylon for the F-16 Aircraft, Addendum 2

The decoupler pylons which were originally designed and assembled with bushings in the pivot joints were retrofitted with roller bearings. This retrofit, the supporting analyses and the fixture tests of the modified pylons are reported in this document. The loads and stress analysis was directed toward the redesigned parts which were the pylon links and pins. The loads and stress analysis indicates that the pylons with the bearing installation have reduced capacity with respect to the bushing design. Fixture tests of the redesigned pylons were conducted in the GD/FW facility. Breakout friction tests and vibration tests were conducted. The tests show that the joint friction is approximately one-half the level with bearings as compared with the bushing installation. The vibration test data was used to tune the pylon mathematical simulation and this revised pylon simulation was used to recompute airplane modes of vibration. These computed modes of vibration were used in complete airplane symmetric and antisymmetric flutter and aeroservoelastic analyses.

Clayton, J. D.↗

NASA NTRS1991

Effect of motor dynamics on nonlinear feedback robot arm control

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

Tarn, Tzyh-Jong↗

NASA NTRS2022

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots with-out substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables.

Tendon/wire mechanism↗

NASA NTRS1989

Motion and force control for multiple cooperative manipulators

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗

NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗

NASA NTRS1991

Friction damping of two-dimensional motion and its application in vibration control

This paper presents an approximate method for analyzing the two-dimensional friction contact problem so as to compute the dynamic response of a structure constrained by friction interfaces. The friction force at the joint is formulated based on the Coulomb model. The single-term harmonic balance scheme, together with the receptance approach of decoupling the effect of the friction force on the structure from those of the external forces has been utilized to obtain the steady state response. The computational efficiency and accuracy of the method are demonstrated by comparing the results with long-term time solutions.

Menq, C.-H.↗

NASA NTRS1986

Single step optimization of feedback-decoupled collision avoidance manipulator maneuvers

Simultaneous robot path planning and path following is shown to be achievable in the presence of motor saturation and obstacle avoidance requirements. The discrete time algorithm derived performs one step ahead mean square optimization of commanded joint accelerations, subject to present actuator force or torque constraints and N step ahead prediction of configuration constraints.

Chen, N.↗

NASA NTRS1988

Position and force control of coordinated multiple arms

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.

Hayati, Samad A.↗

DOE OSTI2022

Probing physics beyond the standard model: limits from BBN and the CMB independently and combined

We present new Big Bang Nucleosynthesis (BBN) limits on the cosmic expansion rate or relativistic energy density, quantified via the number N ν of equivalent neutrino species. We use the latest light element observations, neutron mean lifetime, and update our evaluation for the nuclear rates d + d → 3 He + n and d + d → 3 H+p. Combining this result with the independent constraints from the cosmic microwave background (CMB) yields tight limits on new physics that perturbs N ν and η prior to cosmic nucleosynthesis: a joint BBN+CMB analysis gives N ν = 2.898 ± 0.141, resulting in N ν < 3.180 at 2σ. We apply these limits to a wide variety of new physics scenarios including right-handed neutrinos, dark radiation, and a stochastic gravitational wave background. The strength of the independent BBN and CMB constraints now opens a new window: we can search for limits on potential changes in N ν and/or the baryon-to-photon ratio η between the two epochs. The present data place strong constraints on the allowed changes in N ν between BBN and CMB decoupling; for example, we find -0.708 < N ν CMB - N ν BBN < 0.328 in the case where η and the primordial helium mass fraction Yp are unchanged between the two epochs; we also give limits on the allowed variations in η or in (η, N ν ) jointly. We discuss scenarios in which such changes could occur, and show that BBN+CMB results combine to place important constraints on some early dark energy models to explain the H 0 tension. Looking to the future, we forecast the tightened precision for N ν arising from both CMB Stage 4 measurements as well as improvements in astronomical 4 He measurements. Here, we find that CMB-S4 combined with present BBN and light element observation precision can give σ(N ν ) ≃ 0.03. Such future precision would reveal the expected effect of neutrino heating (N eff -3 = 0.044) of the CMB during BBN, and would be near the level to reveal any particle species ever in thermal equilibrium with the standard model. Improved Y p measurements can push this precision even further.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS1987

Dynamics and control of coordinated multiple manipulators

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of a manipulators each having six joints. Additional constraint equations are considered when one or more of the degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamics equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Finally, simulation results for the control of a pair of two-link manipulators are presented.

Hayati, S. A.↗

DOE OSTI2022

What drives forest carbon storage? The ramifications of source–sink decoupling

As the climate changes and scientists seek to project its future course, an important uncertainty lies in the response of forests. Will rising atmospheric carbon dioxide (CO 2 ) and lengthening growing seasons relieve limitations to tree growth, allowing increased carbon (C) sequestration in long-lived woody tissues and providing a negative feedback to climate change? Or will increasing heat and drought stress reduce growth and increase mortality, resulting in a positive feedback to climate change? Furthermore, to answer this question, global C cycle models simulate photosynthesis under future conditions, using simple plant C allocation schemes to estimate the amount of C sequestered in woody growth vs that allocated to short-lived pools that are more rapidly respired back to the atmosphere as CO 2 (Fatichi et al., 2014). However, there is growing evidence that these schemes are too simplistic, as wood production is frequently decoupled from photosynthesis (Delpierre et al., 2016a,b; Etzold et al., 2022), either through the passive limitation of woody tree growth by environmental conditions or active allocation prioritising other sinks. Needed, then, is an understanding of how woody growth is jointly shaped by photosynthesis (i.e. source limitation) and demand from various C sinks (i.e. sink limitation) across species and biomes (Körner, 2015). In this issue of New Phytologist, Martínez-Sancho et al. (2022; pp. 58–70) exemplifies the type of research needed to improve our ability to predict forest C sequestration under climate change, using an innovative approach to describe the seasonal course of C sequestration in tree stem growth and how it is affected by drought.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1987

Robot-Arm Dynamic Control by Computer

Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

Bejczy, Antal K.↗

DOE OSTI2025

Plutonium Oxidation State Distribution under WIPP Relevant Conditions (Rev. 2)

The oxidation state of plutonium in the Waste Isolation Pilot Plant (WIPP) environment has been a topic of interest since the initial compliance certification application. Plutonium (Pu) was initially expected to be present primarily as Pu(IV), but since the presence of Pu(III) could not be ruled out, it was also included in performance assessment (PA) calculations. The redox of the other variant actinides, uranium (U) and neptunium (Np), are also coupled to the plutonium redox. This led to a position in performance assessment calculations that is commonly referred to as “50/50”. In which half of the PA realizations assume solubility is dominated by the low oxidation state [U(IV), Np(IV), Pu(III)] and the other half assume solubility is dominated by the higher oxidation state [U(VI), Np(V), Pu(IV)]. Recently, a joint group of WIPP project participants from Los Alamos National Laboratory (LANL), Sandia National Laboratories (SNL), and the Department of Energy’s Carlsbad Field Office (DOE-CBFO) agreed on a new path forward for the oxidation state model in PA which will decouple the redox active actinides and will instead consider their redox as a function of E h . This will take the current binary approach and turn it into a system with four possible redox states.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

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↗