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Results for “Arms Control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Coordination of multiple robot arms

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

Barker, L. K.↗
NASA NTRS1994

Telepresence control of a dual-arm dexterous robot

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory-motor skills of an on-orbit crew and effectively transfers them to a slave robot. A dual-arm dexterous robot operating under telepresence control has been developed and is being evaluated. Preliminary evaluation revealed several important observations that suggest the directions of future enhancement.

Li, Larry↗
NASA NTRS1985

Robust torque control of an elastic robotic arm based on invertibility and feedback stabilization

An approach to the control of elastic robotic 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 sub 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 sub 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 sub d + u sub s.

Singh, S. N.↗
NASA NTRS1975

Application of a postulate based control theory for an artificial arm

The biocontroller, remnant of the natural arm, and feedback elements must be considered in designing a controller for an above elbow artificial arm for amputees. This fundamental postulate is used to derive equations for developing the controller, which is shown in block diagrams.

Jacobsen, S. C.↗
NASA NTRS1994

Controlling under-actuated robot arms using a high speed dynamics process

The invention controls an under-actuated manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body qualities for each of the joints from the current positions of the links, and finally computing from the articulated body qualities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands to the active joint forces thus computed to the respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link, beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active, or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link in which the active joint force is computed from the residual link force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.

Jain, Abhinandan↗
DOE OSTI2026

X-Band Scanning ARM Precipitation Radar, CF/Radial Formatted, Quality Controlled

The X-band Scanning ARM Precipitation Radar (X-SAPR) is an X-band dual-polarization Doppler weather radar. The X-SAPR operates in a simultaneous transmit and receive (STAR) mode, meaning that the transmit signal is split so that power is transmitted on both horizontal and vertical polarizations at the same time. The X-SAPR transmitter is a 200 kW (peak power) magnetron. The receiver is based upon the Vaisala RVP-900 and runs Vaisala’s IRIS software. In addition to the first three Doppler moments (reflectivity, radial velocity, and spectra width), the X-SAPR also provides differential reflectivity, correlation coefficient, and specific differential phases. The dual-polarization variables enable estimates of rainfall rates and identification of precipitation types. At the Southern Great Plains site, three X-SAPRs surround the Central Facility, allowing the use of multi-Doppler velocity retrievals to estimate wind fields.

xsaprcfrqc↗
NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗
NASA NTRS1989

Computed torque control of a free-flying cooperat ing-arm robot

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Koningstein, Ross↗
DOE OSTI2018

Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622

Robotic systems hold the potential to significantly reduce exposure of workers to hazardous environments such as in the deactivation and decommissioning (D and D) of nuclear facilities. Our goal is to enable an operator with minimal training to easily control a remote dual-arm robot to perform demolition tasks with hand tools. We propose a system that combines semi-autonomous coordination of the robot's arms with an intuitive operator interface based on virtual reality (VR) technology. A limb coordination system enables independent control of the robot arms, as well as coupled motion required to hold and manipulate rigid bodies such as reciprocating saws, angle grinders and crow bars. Using a VR head mounted display and stereo video from the robot for situational awareness and tracked VR hand controllers to command robot arm movement, an operator will be able to walk up to the control console, pick up the controllers, engage the manipulators, fly the grippers, grasp a tool with one or both robot arms and easily move them in unison to perform tasks. We present preliminary results using simulation and a physical dual-arm platform based on the Johns Hopkins University Applied Physics Laboratory's Modular Prosthetic Limb, an anthropomorphic device that provides hyper-dexterous human-like manipulation capabilities. Anticipated benefits of the robotic system for D and D operations include improved situational awareness, increased mission complexity, and reduced operator training time, workload, and task execution times. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1992

Neural joint control for Space Shuttle Remote Manipulator System

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Atkins, Mark A.↗
NASA NTRS1983

Computer Control of a Seven Degree of Freedom Manipulator Arm

An algorithm for the computer control of a seven degree of freedom manipulator arm, termed the Hawk Control Mode, is described. The algorithm is segmented into two distinct parts. One part controls the extension, azimuth, and elevation of the wrist joint. The second part controls the attitude of the terminal device. The two segments interact to achieve decoupling of wrist joint translation and terminal device rotation.

Stensby, J.↗
NASA NTRS1993

Integrating Software Modules For Robot Control

Reconfigurable, sensor-based control system uses state variables in systematic integration of reusable control modules. Designed for open-architecture hardware including many general-purpose microprocessors, each having own local memory plus access to global shared memory. Implemented in software as extension of Chimera II real-time operating system. Provides transparent computing mechanism for intertask communication between control modules and generic process-module architecture for multiprocessor realtime computation. Used to control robot arm. Proves useful in variety of other control and robotic applications.

Volpe, Richard A.↗
NASA NTRS2001

Control of a simulated arm using a novel combination of Cerebellar learning mechanisms

We present a model of cerebellar cortex that combines two types of learning: feedforward predicitve association based on local Hebbian-type learning between granule cell ascending branch and parallel fiber inputs, and reinforcement learning with feedback error correction based on climbing fiber activity.

cerebellum cerebellar learning dynamic state estim↗
DOE OSTI2016

Contact Control, Version 1

The contact control code is a generalized force control scheme meant to interface with a robotic arm being controlled using the Robot Operating System (ROS). The code allows the user to specify a control scheme for each control dimension in a way that many different control task controllers could be built from the same generalized controller. The input to the code includes maximum velocity, maximum force, maximum displacement, and a control law assigned to each direction and the output is a 6 degree of freedom velocity command that is sent to the robot controller.

von Sternberg, Alex↗
NASA NTRS1988

A novel approach to the modelling and control of flexible robot arms

A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm.

Ding, Xuru↗
NASA NTRS1989

Multi-axis control of telemanipulators

The development of multi-axis hand controllers for use in telemanipulator systems is described. Experience in the control of the SRMS (shuttle remote manipulator system) arm is reviewed together with subsequent tests involving a number of simulators and configurations, including use as a side-arm flight control for helicopters. The factors affecting operator acceptability are reviewed.

Mckinnon, G. M.↗