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Results for “Manipulator control”

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 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

On the nature of control algorithms for space manipulators

A study of the characteristics of control algorithms that can be applied to the motion control of space manipulators is reported. The results obtained show that nearly any control algorithm that can be applied to conventional terrestrial fixed-base manipulators, with a few additional conditions, can be directly applied to free-floating space manipulators. Barycenters are used to formulate efficiently the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.

Papadopoulos, Evangelos↗
NASA NTRS1992

Hand/Eye Coordination For Fine Robotic Motion

Fine motions of robotic manipulator controlled with help of visual feedback by new method reducing position errors by order of magnitude. Robotic vision subsystem includes five cameras: three stationary ones providing wide-angle views of workspace and two mounted on wrist of auxiliary robot arm. Stereoscopic cameras on arm give close-up views of object and end effector. Cameras measure errors between commanded and actual positions and/or provide data for mapping between visual and manipulator-joint-angle coordinates.

Lokshin, Anatole M.↗
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 NTRS1984

Precise control of flexible manipulators

Experimental apparatus were developed for physically testing control systems for pointing flexible structures, such as limber spacecraft, for the case that control actuators cannot be collocated with sensors. Structural damping ratios are less than 0.003, each basic configuration of sensor/actuator noncollocation is available, and inertias can be halved or doubled abruptly during control maneuvers, thereby imposing, in particular, a sudden reversal in the plant's pole-zero sequence. First experimental results are presented, including stable control with both collocation and noncollocation.

Cannon, R. H., Jr.↗
NASA NTRS1988

KALI - An environment for the programming and control of cooperative manipulators

A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

Hayward, Vincent↗
NASA NTRS1987

Dynamics and control of coordinated multiple manipulators

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of a manipulators each having six joints. Additional constraint equations are considered when one or more of the degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamics equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Finally, simulation results for the control of a pair of two-link manipulators are presented.

Hayati, S. A.↗
NASA NTRS1992

Dynamics And Control Of Flexible Manipulator

Nonlinear equations solved with linear approximations applicable during small increments of time. Report presents theoretical study of selected aspects of dynamics and control of robotic manipulator that includes multiple flexible links. Addresses problem of control primarily from perspective of inverse-dynamics problem.

Gawronski, Wodek K.↗
NASA NTRS1989

Control experiments in planar manipulation and grasping

Many algorithms have been proposed in the literature for control of multifingered robot hands. Here, the performance of several of these algorithms is compared, along with that of some extensions of more conventional manipulator control laws, in the case of planar grasping. Based on experiments performed on Styx, the most effective control laws are the simple joint control law and the generalized computed torque law. The computed torque control law is shown to be an attractive alternative for position control of multifingered hands.

Murray, Richard M.↗
NASA NTRS1973

Human control capabilities

The capabilities and limitations of man as an element in a closed loop control system under normal environmental conditions are described. Controller characteristics are enumerated, using manual control, quasilinear models, pilot opinion and ratings, compensatory tracking, optimum control models, motion cues, multiple input tracking, multiple loop tracking, transmission delays, and adaptive manual control. Various controls, manipulators, and displays are also considered.

Young, L. R.↗
NASA NTRS1973

Recent NASA aerospace medicine technology developments

Areas of life science are being studied to obtain baseline data, strategies, and technology to permit life research in the space environment. The reactions of the cardiovascular system to prolonged weightlessness are also being investigated. Particle deposition in the human lung, independent respiratory support system, food technology, and remotely controlled manipulators are mentioned briefly.

Jones, W. L.↗
NASA NTRS1975

Location and acquisition of objects in unpredictable locations

A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.

Sword, A. J.↗
NASA NTRS1978

Development opportunities in the space environment

Human physiological changes are outlined which occur in a space environment. It is shown that flexibility and adaptability are keys to maximizing neurological and body-functions for purposes of life support and health under reduced gravity conditions. Controlled manipulation of gravity in a space environment could reduce some aging problems by delaying the physical collapse of the skeleton, the cardiovascular system, and of tissues and organs.

Norton, R. D.↗
NASA NTRS1979

Selected examples of dispersal of arthropods associated with agricultural crop and animal production

The economic importance of arthropods in agricultural production systems and the possibilities of using dispersal behavior to develop and manipulate control are examined. Examples of long and short distance dispersal of economic insect pests and beneficial species from cool season host reservoirs and overwintering sites are presented. Significant dispersal of these species often occurring during crop and animal production is discussed.

Henneberry, T. J.↗
NASA NTRS1979

Coupling device for moving vehicles

A mechanical system is disclosed to capture and/or deploy a device or vehicle having relative motion with respect to another vehicle. The mechanism includes an onboard controlled collapsible iris assembly located at the end of a controlled manipulator system carried by one moving vehicle. The iris assembly by means of the manipulator system encircles a probe located on the other moving vehicle whereupon the iris assembly is activated and one or more iris elements close around the probe, thus capturing, and axially aligning the other vehicle with the iris assembly. Additionally, a rotator assembly is included for spinning the iris assembly in a manner adapted to engage the probe of a spinning vehicle. Deployment of the other vehicle is accomplished by reversing the capture procedure.

Rudmann, A. A.↗
NASA NTRS1982

Space Shuttle flying qualities and flight control system assessment study

The suitability of existing and proposed flying quality and flight control system criteria for application to the space shuttle orbiter during atmospheric flight phases was assessed. An orbiter experiment for flying qualities and flight control system design criteria is discussed. Orbiter longitudinal and lateral-directional flying characteristics, flight control system lag and time delay considerations, and flight control manipulator characteristics are included. Data obtained from conventional aircraft may be inappropriate for application to the shuttle orbiter.

Myers, T. T.↗
NASA NTRS1986

Direction-Sensitive Latch

Mechanism eliminates clearance and applies positive load latched to member. Simpler and lighter than previous direction-sensitive latches (also called "vector-sensitive latches"). New mechanism well suited to operation by automatic control or by remote controlled manipulator. Stages of latching process begin with application of downward force to secondary member, causing it to displace roller. After secondary member has passed roller and joined primary member, actuator removes clearance between roller and secondary member.

Acres, W. R.↗