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NASA NTRS1995

Unified Approach To Control Of Motions Of Mobile Robots

Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Seraji, Homayoun↗

NASA NTRS1993

Hybrid equations of motion for flexible multibody systems using quasi-coordinates

A variety of engineering systems, such as automobiles, aircraft, rotorcraft, robots, spacecraft, etc., can be modeled as flexible multibody systems. The individual flexible bodies are in general characterized by distributed parameters. In most earlier investigations they were approximated by some spatial discretization procedure, such as the classical Rayleigh-Ritz method or the finite element method. This paper presents a mathematical formulation for distributed-parameter multibody systems consisting of a set of hybrid (ordinary and partial) differential equations of motion in terms of quasi-coordinates. Moreover, the equations for the elastic motions include rotatory inertia and shear deformation effects. The hybrid set is cast in state form, thus making it suitable for control design.

Meirovitch, L.↗

DOE OSTI2022

Controls and process planning strategies for 5-axis laser directed energy deposition of Ti-6Al-4V using an 8-axis industrial robot and rotary motion

Interest in multi-axis additive manufacturing has grown significantly in recent years due to associated benefits that range from improved quality to support for greater geometric complexity. A method of 5-axis Laser Hot-Wire Directed Energy Deposition is developed and demonstrated in this study using an 8-axis industrial robot, comprised of a 6-axis serial link robot and a 2 degree-of-freedom positioner. Coordinated 5-axis motion is used to print Ti-6Al-4V objects predominantly through build plate rotation. Methods of slicing and toolpath generation are presented, including the use of an alternating toolpath direction philosophy and the manipulation of the CAD model surface normal vectors for determining the required build plate tilt angles for maintaining consistent deposition orientations relative to gravity. Another objective of the study was to determine the limits of conventional slicing and layer height control techniques for printing geometries with significant unsupported overhangs. A comparison is made between the behavior of normal and conformal bead alignment in this regard, and the performance of the layer height controller is reported as it relates to process stability and the limits of printing overhang geometries. Unsupported overhangs were successfully printed at 35° without build plate tilt and 45° with build plate tilt. Toolpath velocity and net-shape printing performance are reported as well, with 3D scans of the printed surfaces used for net-shape characterization. In all, the printing of three geometries is presented, including the overhang geometry, a 5-axis toolpath geometry, and a large-scale, multi-bead demonstrator part, which exceeded 500 mm in height and weighed 44 kg (97 lbs).

36 MATERIALS SCIENCE↗

NASA NTRS1987

Off-line programming motion and process commands for robotic welding of Space Shuttle main engines

The off-line-programming software and hardware being developed for robotic welding of the Space Shuttle main engine are described and illustrated with diagrams, drawings, graphs, and photographs. The menu-driven workstation-based interactive programming system is designed to permit generation of both motion and process commands for the robotic workcell by weld engineers (with only limited knowledge of programming or CAD systems) on the production floor. Consideration is given to the user interface, geometric-sources interfaces, overall menu structure, weld-parameter data base, and displays of run time and archived data. Ongoing efforts to address limitations related to automatic-downhand-configuration coordinated motion, a lack of source codes for the motion-control software, CAD data incompatibility, interfacing with the robotic workcell, and definition of the welding data base are discussed.

Ruokangas, C. C.↗

NASA NTRS1989

Three-Dimensional Robotic Vision System

Stereoscopy and motion provide clues to outlines of objects. Digital image-processing system acts as "intelligent" automatic machine-vision system by processing views from stereoscopic television cameras into three-dimensional coordinates of moving object in view. Epipolar-line technique used to find corresponding points in stereoscopic views. Robotic vision system analyzes views from two television cameras to detect rigid three-dimensional objects and reconstruct numerically in terms of coordinates of corner points. Stereoscopy and effects of motion on two images complement each other in providing image-analyzing subsystem with clues to natures and locations of principal features.

Nguyen, Thinh V.↗

NASA NTRS1995

Planning Motions To Avoid Moving Obstacles

Method of planning motions of object to prevent collisions with other moving objects derived from concept of collision cones in relative-velocity space. Collision cones computed, then maneuvers chosen to avoid these cones. Method considered prototype of automated method of planning motions in diverse applications, including complex manufacturing tasks involving coordination of multiple robots and controlling land, air, and sea traffic.

Fiorini, Paolo↗

NASA NTRSDate not supplied

Firmware Architecture of the ARMADAS Bolting Robot

The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) project, under development at NASA Ames Research Center, has demonstrated on-ground autonomous robotic assembly of extensive digital structures, and it is now moving forward towards in-space demonstration. The ARMADAS system comprises of the operation software, the operation user interface (opsUI), and a swarm of robots. The robotic system consists of a multitude of collaborative agents specifically designed to transport, place and bolt the building blocks, called voxels (volumetric pixels). This paper focuses on the bolting robot, referred to as Mobile Metamaterial Internal Co-Integrator (MMIC-I). MMIC-I is a battery-powered crawling robot. It navigates the structure through extension, contraction and gripping. Two distinct controller boards operate the robot's two symmetric modules, referred to as module A and B. Board A is the master board: it coordinates motion planning and motion primitives execution, hosts the WiFi client, performs periodic self-assessment and system idle check and triggers faults if anomalies are detected. Board B periodically sends a heartbeat to board A, through a wired communication channel that uses the Serial protocol. Additionally, board A's WiFi client receives heartbeat packet requests or motion/bolting commands from a dedicated server board, and acknowledges reception sending back a response heartbeat packet containing information about the overall robot status, e. g. electrical current and voltage values, target and actual angles, operating mode, fault status. Whenever a motion command is sent, the motion planning section of the firmware determines the current robot configuration, using Inertial Measurement Unit readings and the motors Pulse Width Modulation values. Afterwards, it calculates the list of primitives needed to reach the target state, and controls their execution in the proper order. MMIC-I can receive and execute motion and bolting commands only when it is in operational mode. MMIC-I has three operating modes: standby, operational and safed. Standby mode is automatically entered upon startup. While in standby mode, all motors are powered off, and the only accepted commands are the ones relative to a change of mode and heartbeat packet request. Fault detection causes the robot to automatically enter safed or standby mode. Whenever the detected fault occurs within a motion and requires immediate intervention, e. g. an over-current situation, the robot enters safed mode. Safed mode powers off all motors except for the locomotion module, thus preventing the robot from collapsing. Conversely, when the detected fault doesn't require immediate intervention (low battery warning, for instance), the robot enters standby mode after completing the ongoing motion. This paper provides a detailed discussion of MMIC-I's firmware architecture. It accurately describes the implementation approach for each module: sensor data reading, motor control and actuation, WiFi server-client communication, intra-boards Serial communication, operating modes and autonomous fault detection, motion planning, coordination and execution, etc. Moreover, in support of the software description, this paper includes a thorough characterization of MMIC-I's hardware and avionics.

In-space assembly↗

NASA NTRS1991

Task decomposition for a multilimbed robot to work in reachable but unorientable space

Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.

Su, Chau↗

NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗

NASA NTRS1991

Method and apparatus for configuration control of redundant robots

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Seraji, Homayoun↗

NASA NTRS2013

Systems and Methods of Coordination Control for Robot Manipulation

Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

Chang, Chu-Yin↗

NASA NTRS2021

Collective Transport of Unconstrained Objects via Implicit Coordination and Adaptive Compliance

We present a decentralized control algorithm for robots to aid in carrying an unknown load. Coordination occurs solely through sensing of the forces on or movement of the shared load. Robots prevent undesired motion of the load while permitting movement in the task-relevant subspace, and stabilize against unexpected events by a transient decrease in compliance. The algorithm requires no direct communication between agents, and minimal knowledge of the system or task. We demonstrate the approach in simulation using a commercially available compliant robotic platform.

Nicole E. Carey↗

NASA NTRS1990

A Petri-net coordination model for an intelligent mobile robot

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

Wang, F.-Y.↗

NASA NTRS2013

Basic Operational Robotics Instructional System

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Todd, Brian Keith↗

NASA NTRS2012

Interactive robot control system and method of use

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

Sanders, Adam M.↗

NASA NTRS1990

Determining Sense Of Motion In Robotic Vision

Image-processing algorithms based partly on natural visual/mental processes. Proposed digital image-processing scheme determines sense of motion of object in image along one coordinate axis (left to right or right to left) with respect to background in image. Image encoded by passing it through spatiotemporal filters, including nonlinear contrast function with threshold. Nonlinear response to sums and differences of imagery processed through even and odd spatial filters indicates sense of motion.

Lawton, Teri B.↗

NASA NTRS1986

Measuring Continuous-Path Accuracies of Robots

Sensors yield data on deviation from predetermined path and speed. Accuracy and repeatability of continuous-path robot motion measured with new method. Determines ability of robot to maintain tool orientation. Used with any type of manipulator arm and with separate, coordinated part positioner. Noncontacting eddy-current sensors measure distance from tool to aluminum path plate as robot end effector moves tool at prescribed distance from plate. Flat, sloped, curved, and other shapes used for path plate.

Allison, T. A.↗

NASA NTRS1989

Dynamic modeling of multi-jointed mechanical systems for space applications

The dynamic formulation, modeling and motion simulation of multijointed open-chained mechanical systems as applied to space-based robotic systems are presented. Equations of motion are formulated in a unique manner based on a form of Lagrange's equations for quasi-coordinates (Boltzmann-Hamel equations). In order that kinematic joint constraints can be satisfied for the situation where some joints have less than three degrees of freedom, the equations are transformed into forms in terms of relative angular velocities and Euler angles. Rigid multibody examples are presented which show that the method can provide a dynamic model of systems of varying complexity.

Quinn, R. D.↗