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Clark, William

Publications and source records attributed to Clark, William.

3 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Panel Session 55: US DOE Savannah River Operations Office: Liquid Waste Progress

This panel provided an overview of the SRS HLW Liquid Waste Program (history, challenges, opportunities, and future) including discussions of the Defense Waste Processing Facility (DWPF), Tank Closures, Actinide Removal Process/Modular Caustic Side Solvent Extraction Unit, Tank Closure Cesium Removal, and the Salt Waste Processing Facility (SWPF). Panelists with presentations: SRS Liquid Waste Program (James Folk); SRS Liquid Waste Progress (Mark Schmitz); Salt Waste Processing Facility (Frank Sheppard)

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

Robust manipulator controller specification and design

This paper suggests the use of a model based control law which uses joint rate feedback to stabilize the contact modes, and joint velocity feedforward to provide the required freespace performance throughout a task. An additional benefit of this controller is the capability to stiffen a soft manipulator. This provides an option for impedance control to provide any desired manipulator stiffness. Impedance control is implemented as an outer Cartesian loop which uses the dynamic relationship between manipulator commanded position and applied force to change the mechanical impedance through programmable filter coefficients. The impedance control discussed in this paper does not give the capability to specify the full impedance of the manipulator. However, it does give the capability to specify the manipulator Cartesian stiffness while maintaining stability in contact with the environment. This controller was designed for the Flight Telerobotic Servicer dextrous manipulator and has been validated experimentally on a single joint controller, as well as on 3 DOF planar arms.

Goldenberg, Stewart↗