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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 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS1980

Machine intelligence and robotics: Report of the NASA study group

Opportunities for the application of machine intelligence and robotics in NASA missions and systems were identified. The benefits of successful adoption of machine intelligence and robotics techniques were estimated and forecasts were prepared to show their growth potential. Program options for research, advanced development, and implementation of machine intelligence and robot technology for use in program planning are presented.

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NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 1: Study results

A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

Lowrie, J. W.↗
NASA NTRS1983

Application of Kalman filters to robot calibration

This report explores new uses of Kalman filter theory in manufacturing systems (robots in particular). The Kalman filter allows the robot to read its sensors plus external sensors and learn from its experience. In effect, the robot is given primitive intelligence. The study, which is applicable to any type of powered kinematic linkage, focuses on the calibration of a manipulator.

Whitney, D. E.↗
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

An intelligent robotics control scheme

The problem of robot control is viewed at the level of communicating high-level commands produced by intelligent algorithms to the actuator/sensor controllers. Four topics are considered in the design of an integrated control and communications scheme for an intelligent robotic system: the use of abstraction spaces, hierarchical versus heterarchical control, distributed processing, and the interleaving of the steps of plan creation and plan execution. A scheme is presented for an n-level distributed hierarchical/heterarchical control system that effectively interleaves intelligent planning, execution, and sensory feedback. A three-level version of this scheme has been successfully implemented in the Intelligent Systems Research Lab at NASA Langley Research Center. This implementation forms the control structure for DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), a testbed system integrating AI software with robotics hardware.

Orlando, N. E.↗
NASA NTRS1985

Advancing automation and robotics technology for the Space Station and for the US economy. Volume 1: Executive overview

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the Space Station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the Space Station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space.

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NASA NTRS1985

Advancing automation and robotics technology for the Space Station and for the US economy, volume 2

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization.

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NASA NTRS1984

Space station automation and robotics study. Operator-systems interface

This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.

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NASA NTRS1984

Initial experiments on the end-point control of a flexible one-link robot

The present investigation is concerned with initial experiments regarding a specific unsolved control problem which appeared to be central to advances in the art of robotics. This problem involves the control of a flexible member (one link of a robot system). The position of the end-effector, called the end point or tip, is controlled by measuring that position and using the measurement as a basis for applying control torque to the other end of the flexible member, as for instance, the robot's elbow joint. A description is presented of the features of the first experimental arm which has been made, and an outline is provided of the general strategy for controlling it using its tip sensor and shoulder torquer.

Cannon, R. H., Jr.↗
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

Overcoming Robot-Arm Joint Singularities

Kinematic equations allow arm to pass smoothly through singular region. Report discusses mathematical singularities in equations of robotarm control. Operator commands robot arm to move in direction relative to its own axis system by specifying velocity in that direction. Velocity command then resolved into individual-joint rotational velocities in robot arm to effect motion. However, usual resolved-rate equations become singular when robot arm is straightened.

Barker, L. K.↗
NASA NTRS1986

Measuring Continuous-Path Accuracies of Robots

Sensors yield data on deviation from predetermined path and speed. Accuracy and repeatability of continuous-path robot motion measured with new method. Determines ability of robot to maintain tool orientation. Used with any type of manipulator arm and with separate, coordinated part positioner. Noncontacting eddy-current sensors measure distance from tool to aluminum path plate as robot end effector moves tool at prescribed distance from plate. Flat, sloped, curved, and other shapes used for path plate.

Allison, T. A.↗
NASA NTRS1984

Design and implementation of a compliant robot with force feedback and strategy planning software

Force-feedback robotics techniques are being developed for automated precision assembly and servicing of NASA space flight equipment. Design and implementation of a prototype robot which provides compliance and monitors forces is in progress. Computer software to specify assembly steps and makes force feedback adjustments during assembly are coded and tested for three generically different precision mating problems. A model program demonstrates that a suitably autonomous robot can plan its own strategy.

Premack, T.↗
NASA NTRS1986

Advancing automation and robotics technology for the space station and for the US economy

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the second in a series of progress updates and covers the period between October 4, 1985, and March 31, l986. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station Program and serve as a highly visible stimulator effecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

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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

Interfacing intelligent software to robotic peripherals

A paradigm for the specification of robotic behavior is proposed, based on a template of control and data elements replicated in a hierarchical lattice. Considerations from physiological psychology are proposed as control elements for the model. The resulting model allows freedom in implementational details within a symmetrical design, and should also provide a framework for evolving robotic behavior from relatively primitive to extremely complex. The model's implications for realizing learning capabilities in robotic systems are discussed, and its implementation and demonstration are described.

Orlando, N. E.↗