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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 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1975

Manipulator system performance measurement

Free-flying teleoperator technology for satellite servicing is reported. The rationale for a series of manipulator system tests is presented. Data are reported on movement time in a fine positioning task using two different manipulator systems. The movement time data showed reliable effects of movement direction and index of difficulty. These data were considered to be baseline performance measures for the manipulator system used and modifications to the control and visual systems were suggested for future testing.

Kirkpatrick, M., III↗
NASA NTRS1975

Design and control of a manipulator for tetraplegics

A concept for the design of a manipulator for tetraplegics must be based on the mutual adaptation of system determining properties of the disabled operator, the manipulator, and the environment. Because the reduced capability of tetraplegics allows control of only three degrees of freedom at a time (instead of the normal fifteen), the structure of the environment must be adjusted. A manipulator is described which includes a three dimensional control stick operated by the lips and mouth.

Paeslack, V.↗
NASA NTRS1975

Algorithmic formulation of control problems in manipulation

The basic characteristics of manipulator control algorithms are discussed. The state of the art in the development of manipulator control algorithms is briefly reviewed. Different end-point control techniques are described together with control algorithms which operate on external sensor (imaging, proximity, tactile, and torque/force) signals in realtime. Manipulator control development at JPL is briefly described and illustrated with several figures. The JPL work pays special attention to the front or operator input end of the control algorithms.

Bejczy, A. K.↗
NASA NTRS1976

Shuttle remote manipulator system workstation - Man-machine engineering

A major subsystem aboard the Shuttle Orbiter, the Remote Manipulator System (RMS) provides the capability to deploy and retrieve free-flying satellites, support attached payload operations, and aid in crewmember rescue from a disabled vehicle should the requirement arise. The Remote Manipulator System consists of 15.3-m (50 ft) articulated booms, end effectors, operator workstation, and closed circuit video, power and control subsystems. The manipulator booms (or arms) and end effectors are located in the Orbiter payload bay and operated from inside the cabin by one crewmember. This paper is primarily concerned with the design and development of the RMS operator's workstation, the man-machine engineering features and interfaces, and man-in-the-loop simulations and testing results obtained to date by the National Aeronautics and Space Administration (NASA).

Brown, J. W.↗
NASA NTRS1976

Issues in advanced automation for manipulator control

This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.

Bejczy, A. K.↗
NASA NTRS1977

Effect of hand-based sensors on manipulator control performance

Manipulator task categories and motion phases require various hand-based information systems to meet the control performance requirements. The effect of proximity, tactile and force/torque sensors on the performance of remote manipulator control is discussed. An overview is presented on various experimental hand-based information systems which provide the manipulator controller some non-visual 'awareness' of the task environment. The rest of the paper describes and evaluates various control experiments performed at JPL using hand-mounted proximity sensors to guide and control hand motion near solid objects.

Bejczy, A. K.↗
NASA NTRS1978

Computerized symbolic manipulation in structural mechanics Progress and potential

Status and recent applications of computerized symbolic manipulation to structural mechanics problems are summarized. The applications discussed include; (1) generation of characteristic arrays of finite elements; (2) evaluation of effective stiffness and mass coefficients of continuum models for repetitive lattice structures; and (3) application of Rayleigh-Ritz technique to free vibration analysis of laminated composite elliptic plates. The major advantages of using computerized symbolic manipulation in each of these applications are outlined. A number of problem areas which limit the realization of the full potential of computerized symbolic manipulation in structural mechanics are examined and some of the means of alleviating them are discussed.

Noor, A. K.↗
NASA NTRS1980

Triple-axis common-pivot arm wrist device for manipulative applications

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Kersten, L.↗
NASA NTRS1980

The role of the real-time simulation facility, SIMFAC, in the design, development and performance verification of the Shuttle Remote Manipulator System (SRMS) with man-in-the-loop

The SIMFAC has played a vital role in the design, development, and performance verification of the shuttle remote manipulator system (SRMS) to be installed in the space shuttle orbiter. The facility provides for realistic man-in-the-loop operation of the SRMS by an operator in the operator complex, a flightlike crew station patterned after the orbiter aft flight deck with all necessary man machine interface elements, including SRMS displays and controls and simulated out-of-the-window and CCTV scenes. The characteristics of the manipulator system, including arm and joint servo dynamics and control algorithms, are simulated by a comprehensive mathematical model within the simulation subsystem of the facility. Major studies carried out using SIMFAC include: SRMS parameter sensitivity evaluations; the development, evaluation, and verification of operating procedures; and malfunction simulation and analysis of malfunction performance. Among the most important and comprehensive man-in-the-loop simulations carried out to date on SIMFAC are those which support SRMS performance verification and certification when the SRMS is part of the integrated orbiter-manipulator system.

Mccllough, J. R.↗
NASA NTRS1981

Computerized symbolic manipulation in nonlinear finite element analysis

The potential of using computerized symbolic manipulation in the development of nonlinear finite elements is discussed. Three tasks which can be efficiently performed using computerized symbolic manipulation are identified: (1) generation of algebraic expressions for the stiffness coefficients of nonlinear finite elements, (2) generation of FORTRAN source code for numerical evaluation of stiffness coefficients, and (3) checking the correctness of the FORTRAN statements for the arrays of coefficients. The symbolic and algebraic manipulation system MACSYMA is used in the present study. Two sample MACSYMA programs are presented for the development of the nonlinear stiffness coefficients of two-dimensional, shear-flexible, doubly-curved deep shell elements. The first program is for displacement models and the second program is for mixed models with discontinuous stress-resultant fields at interelement boundaries.

Noor, A. K.↗
NASA NTRS1980

Supervisory manipulation based on the concepts of absolute vs relative and fixed vs moving tasks

If a machine is to perform a given subtask autonomously, it will require an internal model which, combined with operator and environmental inputs, can be used to generate the manipulator functions necessary to complete the task. This paper will advance a technique based on linear transformations by which short, supervised periods of manipulation can be accomplished. To achieve this end a distinction will be made between tasks which can be completely defined during the training period, and tasks which can be only partially defined prior to the moment of execution. A further distinction will be made between tasks which have a fixed relationship to the manipulator base throughout the execution period, and tasks which have a continuously changing task/base relationship during execution. Finally, through a rudimentary analysis of the methods developed in this paper, some of the practical aspects of implementing a supervisory system will be illustrated

Brooks, T. L.↗
NASA NTRS1980

Kinesthetic coupling between operator and remote manipulator

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Bejczy, A. K.↗
NASA NTRS1982

A New View on Origin, Role and Manipulation of Large Scales in Turbulent Boundary Layers

The potential of passive 'manipulators' for altering the large scale turbulent structures in boundary layers was investigated. Utilizing smoke wire visualization and multisensor probes, the experiment verified that the outer scales could be suppressed by simple arrangements of parallel plates. As a result of suppressing the outer scales in turbulent layers, a decrease in the streamwise growth of the boundary layer thickness was achieved and was coupled with a 30 percent decrease in the local wall friction coefficient. After accounting for the drag on the manipulator plates, the net drag reduction reached a value of 20 percent within 55 boundary layer thicknesses downstream of the device. No evidence for the reoccurrence of the outer scales was present at this streamwise distance thereby suggesting that further reductions in the net drag are attainable. The frequency of occurrence of the wall events is simultaneously dependent on the two parameters, Re2 delta sub 2 and Re sub x. As a result of being able to independently control the inner and outer boundary layer characteristics with these manipulators, a different view of these layers emerged.

Corke, T. C.↗
NASA NTRS1983

A model-based investigation of manipulator characteristics and pilot/vehicle performance

Hess (1978, 1981) has introduced and discussed a structural model of the human pilot in which proprioceptive feedback plays a fundamental role in determining pilot equalization characteristics. It is pointed out that, on account of the feedback structure, this model may provide more insight into the effects of certain manipulator characteristics upon pilot equalization than would other modeling approaches. The model is briefly discussed, and an outline is presented concerning some of the implications of the model structure regarding the manipulator characteristics. Attention is given to some specific empirical examples of manipulator effects involving glide slope tracking in STOL aircraft, taking into account an employment of the model as a theoretical framework.

Hess, R. A.↗
NASA NTRS1982

Precision manipulator heating and cooling assembly compatible with sample transfer

A technique is described for the transfer of a UHV sample system to a precision manipulator. It allows direct sample temperature measurement in a broad range of sample temperatures (150-1750 K) and simultaneously retains the benefit of the additional degree of freedom provided by the precision manipulator flip mechanism. The technique is similar to that reported by Crider (1976) but with several modifications. The pump is mounted at the extreme end of the magnetically coupled linear motion feedthrough (to maximize the separation). Samples are mounted on a threaded circular sample holder, transferred to the flip mechanism of the manipulator. The flip mechanism contains a rear electrode assembly and thermocouple, in direct contact with the sample, and a copper plate and a flexible strap are attached to the receiving block (to facilitate sample cooling).

Outlaw, R. A.↗
NASA NTRS1986

Two-Arm-Manipulator Controller

Shoulder harness allows wearer to control simultaneously and independently two remote manipulator arms and end effectors. Each manipulator arm would have 7 degrees of freedom. Two arm mechanisms of controller moved by operator's arms and hands. Remote manipulator, located elsewhere, responds to operator's arm and hand movements. Adjustable shoulder straps, waist belt, and leg straps hold harness securely on wearer. Mechanisms and harness allow operator to reach almost normally at control station.

Coryell, S.↗
NASA NTRS1987

Digital Control For Remote Manipulators

Multiple microprocessors enable large separations between controllers and manipulators. Controller for remote manipulator requires no direct mechanical connection between slave arm and master arm moved by human operator. Employs two-way digital data transmission rather than mechanical linkage between master and slave. Manipulator a considerable distance from operator. Software for controller distributed between master and slave locations. Organized into modules. Hardware and software for system demonstrated in laboratory model.

Bejczy, Antal K.↗
NASA NTRS1986

Design of multivariable controllers for robot manipulators

The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

Seraji, H.↗