Search NASA⌕ Search

SEARCH · Search NASA

Results for “Redundancy”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Efficient gradient projection optimization for manipulators with multiple degrees of redundancy

An efficient gradient projection optimization scheme is presented for manipulators with multiple degrees of redundancy. This is an extension of the gradient projection scheme presented by Dubey et al. (1989) for manipulators with one degree of redundancy. The feasibility and effectiveness of this scheme are tested through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator (LTM). Only the position of the LTM end effector is controlled, which requires only three degrees of freedom. The remaining joints, except for the wrist roll joint, which does not contribute to the end-effector linear velocity, provide three degrees of redundacy.

Zghal, H.↗
NASA NTRS1991

Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulators

The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.

Cheatham, John B., Jr.↗
NASA NTRS1992

Robust adaptive kinematic control of redundant robots

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Tarokh, M.↗
NASA NTRS1990

Adaptive impedance control of redundant manipulators

A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F (is a member of Rm) required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T (is a member of Rn). The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for on-line implementation.

Colbaugh, R.↗
NASA NTRS1990

Singularity-robustness and task-prioritization in configuration control of redundant robots

The authors present a singularity-robust task-prioritized reformulation of the configuration control for redundant robot manipulators. This reformation suppresses large joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion when both cannot be achieved exactly.

Seraji, H.↗
NASA NTRS1992

Optimal locations of redundants for prestressing adaptive trusses with buckling considerations

This paper describes the optimal locations selection of redundant bars for prestressing a determinate truss. Two computationally simple algorithms are presented to obtain the optimal locations of the redundants. The paper then describes a procedure to prevent local buckling/rupture of individual bars of the resulting indeterminate truss and its global buckling, by introducing a positive scale parameter for the prestressing forces. The procedure is illustrated on a simple two-dimensional truss.

Jalihal, P.↗
NASA NTRS1992

Redundant arm control in a supervisory and shared control system

The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

Backes, Paul G.↗
NASA NTRS1992

Redundant drive current imbalance problem of the Automatic Radiator Inspection Device (ARID)

The Automatic Radiator Inspection Device (ARID) is a 4 Degree of Freedom (DOF) robot with redundant drive motors at each joint. The device is intended to automate the labor intensive task of space shuttle radiator inspection. For safety and redundancy, each joint is driven by two independent motor systems. Motors driving the same joint, however, draw vastly different currents. The concern was that the robot joints could be subjected to undue stress. It was the objective of this summer's project to determine the cause of this current imbalance. In addition it was to determine, in a quantitative manner, what was the cause, how serious the problem was in terms of damage or undue wear to the robot and find solutions if possible. It was concluded that most problems could be resolved with a better motor control design. This document discusses problems encountered and possible solutions.

Latino, Carl D.↗
NASA NTRS1993

Advanced Launch System Multi-Path Redundant Avionics Architecture Analysis and Characterization

The objective of the Multi-Path Redundant Avionics Suite (MPRAS) program is the development of a set of avionic architectural modules which will be applicable to the family of launch vehicles required to support the Advanced Launch System (ALS). To enable ALS cost/performance requirements to be met, the MPRAS must support autonomy, maintenance, and testability capabilities which exceed those present in conventional launch vehicles. The multi-path redundant or fault tolerance characteristics of the MPRAS are necessary to offset a reduction in avionics reliability due to the increased complexity needed to support these new cost reduction and performance capabilities and to meet avionics reliability requirements which will provide cost-effective reductions in overall ALS recurring costs. A complex, real-time distributed computing system is needed to meet the ALS avionics system requirements. General Dynamics, Boeing Aerospace, and C.S. Draper Laboratory have proposed system architectures as candidates for the ALS MPRAS. The purpose of this document is to report the results of independent performance and reliability characterization and assessment analyses of each proposed candidate architecture and qualitative assessments of testability, maintainability, and fault tolerance mechanisms. These independent analyses were conducted as part of the MPRAS Part 2 program and were carried under NASA Langley Research Contract NAS1-17964, Task Assignment 28.

Baker, Robert L.↗
NASA NTRS1992

Collision avoidance of a multiple degree of redundancy manipulator operating through a window

The problem of collision-free operation of a multiple-degree-of-redundancy manipulator operating through a window is addressed. An efficient gradient projection optimization scheme is presented for the kinematic control of manipulators with multiple degrees of redundancy. This scheme was developed for dextrous robotic and telerobotic applications in space station construction as well as in congested shop floor environment. A performance criterion is defined to maximize the shortest distances between the manipulator links and the edges of the window. Effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator.

Zghal, H.↗
NASA NTRS1992

Site partitioning for distributed redundant disk arrays

Distributed redundant disk arrays can be used in a distributed computing system or database system to provide recovery in the presence of temporary and permanent failures of single sites. In this paper, we look at the problem of partitioning the sites into redundant arrays in such way that the communication costs for maintaining the parity information are minimized. We show that the partitioning problem is NP-complete and we propose two heuristic algorithms for finding approximate solutions.

Mourad, Antoine N.↗
NASA NTRS1993

Tomographic decoding algorithm for a nonoverlapping redundant array

A tomographic reconstruction algorithm is developed for the nonoverlapping redundant array X-ray imaging system whereby the background contributions from out-of-focus planes can be eliminated. The algorithm makes use of two constraints derived from the physical characteristics of the nonoverlapping redundant array system in tandem with the correlation decoding process. It is simple, direct, and noniterative. Tomographic images of computer-generated planar and three-dimensional objects are provided to illustrate the effectiveness of the algorithm.

Yin, Lo I.↗
NASA NTRS1993

Performance of redundant disk array organizations in transaction processing environments

A performance evaluation is conducted for two redundant disk-array organizations in a transaction-processing environment, relative to the performance of both mirrored disk organizations and organizations using neither striping nor redundancy. The proposed parity-striping alternative to striping with rotated parity is shown to furnish rapid recovery from failure at the same low storage cost without interleaving the data over multiple disks. Both noncached systems and systems using a nonvolatile cache as the controller are considered.

Mourad, Antoine N.↗
NASA NTRS1921

Analysis of wing truss stresses including the effect of redundancies

Airplane wing trusses are generally designed to contain redundant members (stagger wires and external drag wires) which, according to common practice, are not taken into account in calculations, so as to simplify the stress analysis by rendering the structure statically determinate. A more accurate method, in which the redundancies are included, involves a solution by means of Castigliano's method of least work. For the purpose of demonstrating the practical application of the method of least work this report presents examples for stresses of several cases of loading worked out for a structure similar to that of the Curtiss JN-4h. Case 1 was taken as the condition of velocity of 100 miles per hour combined with the angle of attack of maximum lift. Case 1a assumed the same loading but neglected the distortion of wooden members in the least-work analysis. So little error was involved in case 1a that this simplified method was employed for each succeeding case. Case 2 assumed a diving speed of 120 miles per hour and an angle of attack of no lift. Case 3 was worked out for the conditions imposed by the sand load recommended in NACA technical note no. 6.

Warner, E P↗
NASA NTRS1994

Adaptive Impedance Control Of Redundant Manipulators

Improved method of controlling mechanical impedance of end effector of redundant robotic manipulator based on adaptive-control theory. Consists of two subsystems: adaptive impedance controller generating force-control inputs in Cartesian space of end effector to provide desired end-effector-impedance characteristics, and subsystem implementing algorithm that maps force-control inputs into torques applied to joints of manipulator. Accurate control of end effector and effective utilization of redundancy achieved simultaneously by use of method. Potential use to improve performance of such typical impedance-control tasks as deburring edges and accommodating transitions between unconstrained and constrained motions of end effectors.

Seraji, Homayoun↗
NASA NTRS1991

Control algorithm implementation for a redundant degree of freedom manipulator

This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior. The control algorithms are subjected to a dynamic simulation before implementation.

Cohan, Steve↗
NASA NTRS1992

Links between N-modular redundancy and the theory of error-correcting codes

N-Modular Redundancy (NMR) is one of the best known fault tolerance techniques. Replication of a module to achieve fault tolerance is in some ways analogous to the use of a repetition code where an information symbol is replicated as parity symbols in a codeword. Linear Error-Correcting Codes (ECC) use linear combinations of information symbols as parity symbols which are used to generate syndromes for error patterns. These observations indicate links between the theory of ECC and the use of hardware redundancy for fault tolerance. In this paper, we explore some of these links and show examples of NMR systems where identification of good and failed elements is accomplished in a manner similar to error correction using linear ECC's.

Bobin, V.↗