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At least 793 records · Page 44
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Mobile remote manipulator system for a tetrahedral truss

The mobile remote manipulator system (MRMS) was initially developed for transit about the trusses of the delta space station; however, it can be utilized just as easily for transit about the trusses of the dual keel station. The MRMS is comprised of a mobile platform having a rail system formed of transversely disposed T-shaped tracks, which engage with guide pins located at the nodes of the trusses. The guide pins form a grid and the tracks are so designed as to permit travel in either of two orthogonal directions. The present invention provides a near-uniform traversing velocity with minimal dynamic loading on the system. Pivoting changers move the platform from one face to another.

Wesselski, Clarence J.↗
NASA NTRS1987

Visual enhancements in pick-and-place tasks - Human operators controlling a simulated cylindrical manipulator

A teleoperation simulator has been constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments thus conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements.

Kim, Won S.↗
NASA NTRS1987

Single step optimization of manipulator maneuvers with variable structure control

One step ahead optimization has been recently proposed for spacecraft attitude maneuvers as well as for robot manipulator maneuvers. Such a technique yields a discrete time control algorithm implementable as a sequence of state-dependent, quadratic programming problems for acceleration optimization. Its sensitivity to model accuracy, for the required inversion of the system dynamics, is shown in this paper to be alleviated by a fast variable structure control correction, acting between the sampling intervals of the slow one step ahead discrete time acceleration command generation algorithm. The slow and fast looping concept chosen follows that recently proposed for optimal aiming strategies with variable structure control. Accelerations required by the VSC correction are reserved during the slow one step ahead command generation so that the ability to overshoot the sliding surface is guaranteed.

Chen, N.↗
NASA NTRS1987

Learning control for robotic manipulators with sparse data

Learning control algorithms have been proposed for error compensation in repetitive robotic manipulator tasks. It is shown that the performance of such control algorithms can be seriously degraded when the feedback data they use is relatively sparse in time, such as might be provided by vision systems. It is also shown that learning control algorithms can be modified to compensate for the effects of sparse data and thereby yield performance which approaches that of systems without limitations on the sensory information available for control.

Morita, Atsushi↗
NASA NTRS1987

Real-time collision avoidance manipulator transfer movements

Collision free robot manipulator maneuvers for transferring a payload from one location to another in the presence of obstacles are discussed. Such maneuvers are executed by means of two algorithms running in parallel. The first algorithm performs an on-line, one step ahead acceleration optimization, with an adaptive N-step ahead precaution measure to prevent overshooting the specified forbidden joint coordinates. The second algorithm, an on-line planning algorithm, at the same time, selects the current target state and the current forbidden joint coordinates for the first algorithm. Since the task is a point to point transfer movement, the problem is dealt in robot joint space directly and the kinematic problem can be bypassed completely. A simulation example using a 2 degree-of-freedom planner robot is given.

Chen, N.↗
NASA NTRS1987

An adaptive Cartesian control scheme for manipulators

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Seraji, H.↗
NASA NTRS1987

Traction-drive telerobot for space manipulation

The National Aeronautics and Space Administration (NASA) Space Station Program marks the begining of a new era in space utilization and habitation. Extensive use of remote manipulation and robotics to reduce astronaut extra-vehicular activity is expected. Emphasis on teleoperator technology in early Space Station phases, followed by growth of autonomous robotics capabilities, is planned. A new telerobot concept has been developed at Oak Ridge National Laboratory (ORNL) under NASA Langley Research Center sponsorship, to address the technical needs of both teleoperations and telerobotics for these future NASA programs. The concept is based on traction drives, redundant kinematics, modular construction, and a state-of-the-art distributed, hierarchical control system.

Herndon, J. N.↗
NASA NTRS1987

What happens to the large eddies when net drag reduction is achieved by outer flow manipulators?

The tandem-arranged parallel plate manipulator (TAPPM) presently used to generate a flow with net drag reduction is conditionally sampled and found to exhibit significant changes of the boundary layer's large-scale motions at 20 delta(0), where delta(0) is the boundary layer thickness at the upstream plate of the TAPPM. Flow fields in the 'valleys' are equally affected. Both turbulent and irrotational flows then reestablish themselves by 50 delta(0). Flow visualization indicates that the TAPPM wake is very coherent at 20 delta(0), and has not yet spread into the wall region, while large scale motions and the ambient response flow continue to exhibit dynamic changes. This indicates that the shielding effect of the TAPPM's wake prolongs suppression of large-scale motions, thereby reducing skin friction over a sufficiently long extent of the boundary layer to overcome device drag and yield net drag reductions.

Falco, R. E.↗
NASA NTRS1988

Experimental verification of a large flexible manipulator

A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure, such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. A verification of the modeling using the assumed mode method is presented. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator is verified.

Lee, Jac Won↗
NASA NTRS1989

Video Alignment System For Remote Manipulator

Crosshairs and mirror provide angular references. Video system enables operator to align remote manipulator with objects grasped. System does not rely on aligning protuberances on objects. Possible to eliminate protuberances and mechanical interferences caused. Display on television monitor reveals orientation of television camera with respect to crosshairs on mirror on object with which camera aligned.

Monford, Leo G.↗
NASA NTRS1989

Adaptive Control Of Remote Manipulator

Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

Seraji, Homayoun↗
NASA NTRS1988

Space station erectable manipulator placement system

An erectable manipulator placement system for use on the space station and comprising an elongate lattice-like boom having dual guide tracks attached to parallel chords thereof, a carriage-like dolly movable along said tracks, and a segmented maneuvering arm-like assembly pivotally mounted on an extending from said dolly. The system further includes a turntable base pivotally interconnected with the proximal end of the boom and positioned either on a part of a transferring vehicle, or on another payload component being carried by said transferring vehicle, or on the space station.

Margaret E Grimaldi↗
NASA NTRS1987

Manipulator control and mechanization: A telerobot subsystem

The short- and long-term autonomous robot control activities in the Robotics and Teleoperators Research Group at the Jet Propulsion Laboratory (JPL) are described. This group is one of several involved in robotics and is an integral part of a new NASA robotics initiative called Telerobot program. A description of the architecture, hardware and software, and the research direction in manipulator control is given.

Hayati, S.↗
NASA NTRS1987

Chaos motion in robot manipulators

It is shown that a simple two-link planar manipulator exhibits a phenomenon of global instability in a subspace of its configuration space. A numerical example, as well as results of a graphic simulation, is given.

Lokshin, A.↗
NASA NTRS1987

Task planning and control synthesis for robotic manipulation in space applications

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.

Sanderson, A. C.↗
NASA NTRS1987

Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

Wen, J. T.↗
NASA NTRS1987

Adaptive hybrid position/force control of robotic manipulators

The problem of position and force control for the compliant motion of the manipulators is considered. The external force and the position of the end-effector are related by a second order impedance function. The force control problem is then translated into a position control problem. For that, an adaptive controller is designed to achieve the compliant motion. The design uses the Liapunov's direct method to derive the adaptation law. The stability of the process is guaranteed from the Liapunov's stability theory. The controller does not require the knowledge of the system parameters for the implementation, and hence is easy for applications.

Pourboghrat, F.↗