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Current theories examined critically. Report surveys state of art in theory of minimum-time control of robotic manipulators. Discusses some of the promising developments, pointing out, however, optimal-control problem in full generality remains unsolved. Compares various solution methods, indicating merits and flaws.
Existence theorem proved for nonlinear systems. Report discusses mathematical requirements for existence of solution to minimum-time control problem for robotic manipulator that obeys nonlinear equations of motion.
Modified Denavit-Hartenberg parameters better for locating successive joint-axis systems. Modification results from insistence that transverse vector between successive joint rotational axes be perpendicular to one of rotational axes instead of both axes. Useful in industrial calibration of robot arms.
Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects).
The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.
The problem of cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator with possible space station applications is considered. The study was performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. Excellent tracking quality and small overshoots are also evident.
The quest for the highest resolution microwaves imaging and the principle of time-domain imaging is the primary motivation for recent developments in time-domain techniques. With the present technology fast time varying signals can now be measured and recorded both in magnitude and in phase. It has also enhanced the ability to extract relevant details concerning the scattering object. In the past, the inference of object geometry or shape from scattered signals has received substantial attention in radar technology. Various inverse scattering theories were proposed to develop analytical solutions to this problem. Furthermore, the random inversion, frequenty swept holography, and the synthetic radar imaging, all of which have two things in common: the physical optic far-field approximation and the utilization of the channels as an extra physical dimension, were also advanced significantly. Despite the inherent vectorial nature of electromagnetic waves, these scalar treatments have brought forth some promising results in practice with notable examples in subsurface and structure sounding. The use of time-domain imaging for space robotic vision applications was proposed. A multisensor approach to vision was shown to have several advantages over the video-only approach.
Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.
A system for reasoning about robotic assembly tasks is described. The first element of this system is a facility for itemizing the constraints which determine the admissible orderings over the activities to be sequenced. The second element is a facility which partitions the activities into independent subtasks and produces a set of admissible strategies for each. Finally, the system has facilities for constructing an admissible sequence of activities which is consistent with the given constraints. This can be done off-line, in advance of task execution, or it can be done incrementally, at execution time, according to conditions in the execution environment. The language of temporal constraints and the methods of inference presented in related papers are presented. It is shown how functional and spatial relationships between components impose temporal constraints on the order of assembly and how temporal constraints then imply admissible strategies and feasible sequences.
Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered.
As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.
The preliminary conceptual design of a new teleoperator robot manipulator system for space station maintenance missions has been completed. The system consists of a unique pair of arms that is part of a master-slave, force-reflecting servomanipulator. This design allows greater dexterity and greater volume coverage than that available in current designs and concepts. The teleoperator manipulator is specifically designed for space applications and is a valuable extension of the current state-of-the-art earthbound manipulators marketed today. The manipulator and its potential application on the space station are described.
Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.
Described briefly is the work done during the first half year of a three-year study on dynamic control of robotic manipulators in space. The research focused on issues for advanced control of space manipulators including practical issues and new applications for the Virtual Manipulator. In addition, the development of simulations and graphics software for space manipulators, begun during the first NASA proposal in the area, has continued. The fabrication of the Vehicle Emulator System (VES) is completed and control algorithms are in process of development.
The primary goal of this program is to produce the motion control tools necessary to enhance and enable a particular NASA mission - space laboratory-based microgravity experiments. To that end, a spectrum of technology is being developed in the disciplines of precision mechanisms and robotics.
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.
A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.
The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.