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At least 613 records · Page 34

All sources NASA NTRS DOE OSTI

NASA NTRS1977

Proto-Flight Manipulator Arm (P-FMA)

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Britton, W. R.↗

NASA NTRS1981

Simplified robot arm dynamics for control

A brief summary and evaluation is presented on the use of symbolic state equation techniques in order to represent robot arm dynamics with sufficient accuracy for controlling arm motion. The use of homogeneous transformations and the Lagrangian formulation of mechanics offers a convenient frame for the derivation, analysis and simplification of complex robot dynamics equations. It is pointed out that simplified state equations can represent robot arm dynamics with good accuracy.

Bejczy, A. K.↗

NASA NTRS1983

Kinematic equations for resolved-rate control of an industrial robot arm

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Barker, L. K.↗

NASA NTRS1983

Dynamic analysis for robot arm control

Explicit state equations provide detailed analytic insight into the dynamic behavior of a robot arm and facilitate the understanding of the control problem. The analytic strength of explicit state equations is exemplified for a given robot arm. In fact, for the quoted example, the explicit and exact state equations involve considerably less computation than the use of the known most efficient general-purpose computational algorithm for robot arm dynamics.

Bejczy, A. K.↗

NASA NTRS1984

On the '3 kiloparsec arm' - Resonance excitation of linear and nonlinear waves by an oval distortion in the central region

The mechanism responsible for the massive rapidly expanding Galactic feature known as the 3-kpc arm (Rougoor and Oort, 1960) is investigated theoretically in the framework of a density-wave model of the Galaxy. The arm is attributed to outgoing waves excited at the outer Lindblad resonance (OLR) of a small rotating oval distortion near the Galactic center. Linear and nonlinear models are developed, and it is shown that a density crest at 3.5 kpc with expansion velocity 53 km/s can be generated by a distortion turning at 118 km/s kpc with a 10-percent perturbation of the main gravitational field at the OLR (located at 3 kpc). The wave character of the nonlinear solution is found to be the same as that of the linear solution and to give good agreement with the observations in terms of expansion velocity, size, shape, and mass; only the observed asymmetry of the arm is not reproduced.

Yuan, C.↗

NASA NTRS1985

Extended moment arm anti-spin device

A device which corrects aerodynamic spin is provided in which a collapsible boom extends an aircraft moment arm and an anti-spin parachute force is exerted upon the end of the moment arm to correct intentional or inadvertent aerodynamic spin. This configuration effects spin recovery by means of a parachute whose required diameter decreases as an inverse function of the increasing length of the moment arm. The collapsible boom enables the parachute to avoid the aircraft wake without mechanical assistance, retracts to permit steep takeoff, and permits a parachute to correct spin while minimizing associated aerodynamic, structural and in-flight complications.

Whipple, R. D.↗

NASA NTRS1983

Robot arm dynamic model reduction for control

General methods are described by which the mathematical complexities of explicit and exact state equations of robot arms can be reduced to a simplified and compact state equation representation without introducing significant errors into the robot arm dynamic model. The model reduction methods are based on homogeneous coordinates and on the Langrangian algorithm for robot arm dynamics, and utilize matrix, vector and numeric analysis techniques. The derivation of differential vector representation of centripetal and Coriolis forces which has not yet been established in the literature is presented.

Bejczy, A. K.↗

NASA NTRS1986

Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms

The Denavit-Hartenberg parameters define the relative location of successive joint axis systems in a robot arm. A recent justifiable criticism is that one of these parameters becomes extremely large when two successive joints have near-parallel rotational axes. Geometrically, this parameter then locates a joint axis system at an excessive distance from the robot arm and, computationally, leads to an ill-conditioned transformation matrix. In this paper, a simple modification (which results from constraining a transverse vector between successive joint rotational axes to be normal to one of the rotational axes, instead of both) overcomes this criticism and favorably locates the joint axis system. An example is given for near-parallel rotational axes of the elbow and shoulder joints in a robot arm. The regular and modified parameters are extracted by an algebraic method with simulated measurement data. Unlike the modified parameters, extracted values of the regular parameters are very sensitive to measurement accuracy.

Barker, L. K.↗

NASA NTRS1986

Anthropometric considerations for a 4-axis side-arm flight controller

A data base on multiaxis side-arm flight controls was generated. The rapid advances in fly-by-light technology, automatic stability systems, and onboard computers have combined to create flexible flight control systems which could reduce the workload imposed on the operator by complex new equipment. This side-arm flight controller combines four controls into one unit and should simplify the pilot's task. However, the use of a multiaxis side-arm flight controller without complete cockpit integration may tend to increase the pilot's workload.

Debellis, W. B.↗

NASA NTRS1987

Molecular clouds in the Carina arm - Large-scale properties of molecular gas and comparison with H I

Results from the first large-scale survey in the CO (J = 1 - 0) line of the Vela-Carina-Centaurus region of the southern Milky Way are reported. The results demonstrate that molecular clouds in the Galaxy are largely confined to the spiral arms and that CO is therefore an extremely good tracer of the large-scale structure of the system. The Carina arm is the dominant feature in the data. Its abrupt tangent at l of roughly 280 deg and characteristic loop in the (l, v) diagram are unmistakable evidence for CO spiral structure. When the emission is integrated over velocity and latitude, the height of the step seen in the tangent direction indicate that the arm-interarm contrast is at least 13:1.

Grabelsky, D. A.↗

NASA NTRS1988

Position And Force Control For Multiple-Arm Robots

Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.

Hayati, Samad A.↗

NASA NTRS1988

Accurate positioning of long, flexible ARM's (Articulated Robotic Manipulator)

An articulated robotic manipulator (ARM) system is being designed for space applications. Work being done on a concept utilizing an infinitely stiff laser beam for position reference is summarized. The laser beam is projected along the segments of the ARM, and the position is sensed by the beam rider modules (BRM) mounted on the distal ends of the segments. The BRM concept is the heart of the system. It utilizes a combination of lateral displacements and rotational and distance measurement sensors. These determine the relative position of the two ends of the segments with respect to each other in six degrees of freedom. The BRM measurement devices contain microprocessor controlled data acquisition and active positioning components. An indirect adaptive controller is used to accurately control the position of the ARM.

Malachowski, Michael J.↗

NASA NTRS1986

Dynamic coordination of two robot arms

This paper presents a new control method for coordinated control of two robot arms. The two arms are assumed to work on the same object simultaneously. The control method uses a dynamic coordinator acting on relative position and velocity task space errors and on relative force-torque errors between the two arms as sensed at the end effectors. This method is novel because the position and velocity error feedback could be superimposed with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

NASA NTRS1986

Optimal output fast feedback in two-time scale control of flexible arms

Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

Siciliano, B.↗

NASA NTRS1987

Control strategy for a dual-arm maneuverable space robot

A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot.

Wang, P. K. C.↗

NASA NTRS1987

Concept development of a tendon arm manipulator and anthropomorphic robotic hand

AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts.

Tolman, C. T.↗

NASA NTRS1990

Balancing Loads Among Robotic-Manipulator Arms

Paper presents rigorous mathematical approach to control of multiple robot arms simultaneously grasping one object. Mathematical development focuses on relationship between ability to control degrees of freedom of configuration and ability to control forces within grasped object and robot arms. Understanding of relationship leads to practical control schemes distributing load more equitably among all arms while grasping object with proper nondamaging forces.

Kreutz, Kenneth K.↗

NASA NTRS1990

Secondary arm coarsening and microsegregation in superalloy PWA-1480 single crystals: Effect of low gravity

Single crystal specimens of nickel base superalloy PWA-1480 were directionally solidified on ground and during low gravity (20 sec) and high gravity (90 sec) parabolic maneuver of KC-135 aircraft. Thermal profiles were measured during solidification by two in-situ thermocouples positioned along the sample length. The samples were quenched during either high or low gravity cycles so as to freeze the structures of the mushy zone developing under different gravity levels. Microsegregation was measured by examining the solutal profiles on several transverse cross-sections across primary dendrites along their length in the quenched mushy zone. Effect of gravity level on secondary arm coarsening kinetics and microsegregation have been investigated. The results indicate that there is no appreciable difference in the microsegregation and coarsening kinetics behavior in the specimens grown under high or low gravity. This suggests that short duration changes in gravity/levels (0.02 to 1.7 g) do not influence convection in the interdendritic region. Examination of the role of natural convection, in the melt near the primary dendrite tips, on secondary arm spacings requires low gravity periods longer than presently available on KC-135. Secondary arm coarsening kinetics show a reasonable fit with the predictions from a simple analytical model proposed by Kirkwood for a binary alloy.

Vijayakumar, M.↗