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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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Task decomposition for multilimbed robots to work in the reachable-but-unorientable space

Multilimbed industrial robots that have at least one arm and two or more legs are suggested for enlarging robot workspace in industrial automation. To plan the motion of a multilimbed robot, the arm-leg motion-coordination problem is raised and task decomposition is proposed to solve the problem; that is, a given task described by the destination position and orientation of the end-effector is decomposed into subtasks for arm manipulation and for leg locomotion, respectively. The former is defined as the end-effector position and orientation with respect to the legged main body, and the latter as the main-body position and orientation in the world coordinates. Three approaches are proposed for the task decomposition. The approaches are further evaluated in terms of energy consumption, from which an optimal approach can be selected.

Su, Chao↗
NASA NTRS1989

Self-Aligning Robotic End Effector And Receptacle

Industrial-robot hand (end effector) and mating receptacle include congruent male and female conical and V-shaped surfaces for positive alignment. Surfaces of end effector and receptacle keyed to each other for automatic alignment. Lifting pins inserted in receptacle to lock end effector and receptacle together. Tool turns mounting screw, and end effector lifts object.

Vansant, Glen J.↗
NASA NTRS1984

Robotic System

A complicated design project, successfully carried out by New York manufacturing consultant with help from NERAC, Inc., resulted in new type robotic system being marketed for industrial use. Consultant Robert Price, operating at E.S.I, Inc. in Albany, NY, sought help from NERAC to develop an automated tool for deburring the inside of 8 inch breech ring assemblies for howitzers produced by Watervliet Arsenal. NERAC conducted a search of the NASA data base and six others. From information supplied, Price designed a system consisting of a standard industrial robot arm, with a specially engineered six-axis deburring tool fitted to it. A microcomputer and computer program direct the tool on its path through the breech ring. E.S.I. markets the system to aerospace and metal cutting industries for deburring, drilling, routing and refining machined parts.

Source record↗
NASA NTRS1995

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

Garrahan, Steven L.↗
NASA NTRS1988

Understanding of and applications for robot vision guidance at KSC

The primary thrust of robotics at KSC is for the servicing of Space Shuttle remote umbilical docking functions. In order for this to occur, robots performing servicing operations must be capable of tracking a swaying Orbiter in Six Degrees of Freedom (6-DOF). Currently, in NASA KSC's Robotic Applications Development Laboratory (RADL), an ASEA IRB-90 industrial robot is being equipped with a real-time computer vision (hardware and software) system to allow it to track a simulated Orbiter interface (target) in 6-DOF. The real-time computer vision system effectively becomes the eyes for the lab robot, guiding it through a closed loop visual feedback system to move with the simulated Orbiter interface. This paper will address an understanding of this vision guidance system and how it will be applied to remote umbilical servicing at KSC. In addition, other current and future applications will be addressed.

Shawaga, Lawrence M.↗
NASA NTRS1992

The development of system components to provide proprioceptive and tactile information to the human for future telepresence systems

System components are presented that are being implemented to augment teleoperated systems by providing both force and tactile information to the human operator. The concept proposed is the control of a manipulator to perform tasks; i.e., flight line maintenance and repair of combat aircraft or satellites while under the control of a human operator at a remote location to maintain mission effectiveness in a hostile environment. The human would control the motion of the manipulator via a master system with information from the remote site being fed back by direct stimulation of the humans sensory mechanisms or by graphic interpretation of displays. We are interested in providing the operator feedback of position, force, auditory, vision, and tactile information to aide in the human's cognitive ability to control the manipulator. This sensory information from the remote site would then be presented to the operator in such a manner as to enhance his performance while providing him a sense of being present at the remote location, this is known as telepresence. Also discussed is the research done by the Human Sensory Feedback (HSF) facility at the Armstrong Laboratory to provide tactile and proprioceptive feedback to the operator. The system components of this system includes tactile sensor and stimulators, dexterous robotic hands, and the control of positioning and operating industrial robots with exoskeletal mechanisms.

Wright, Ammon K.↗
NASA NTRS1979

Manufacturing process applications team (MATEAM)

The transfer of NASA technology to the industrial sector is reported. Presentations to the machine tool and robot industries and direct technology transfers of the Adams Manipulator arm, a-c motor control, and the bolt tension monitor are discussed. A listing of proposed RTOP programs with strong potential is included. A detailed description of the rotor technology available to industry is given.

Source record↗
NASA NTRS1989

NASA/GSFC split-rail parallel gripper

The current state of development of the NASA/GSFC (Goddard Space Flight Center) Split-Rail Parallel Gripper (SRPG) is described. The SPRG has been shown to be a high performance gripper for industrial robots. It has a precise wide throw and at the same time, it is light, simple, compact, rugged, and jam-proof against side loads. Originated at the National Bureau of Standards (NBS), this gripper is undergoing further development at NASA/GSFC in pursuit of two goals: as a potential gripper for robots in space and as the basis for sensory-interactive industrial gripper as part of NASA's technology utilization program. The gripper design features, its principles of operation and how it is constructed are described. Test results are included.

Vranish, John M.↗
NASA NTRS1991

A decade of telerobotics in rehabilitation: Demonstrated utility blocked by the high cost of manipulation and the complexity of the user interface

The Stanford/VA Interactive Robotics Laboratory set out in 1978 to test the hypothesis that industrial robotics technology could be applied to serve the manipulation needs of severely impaired individuals. Five generations of hardware, three generations of system software, and over 125 experimental subjects later, we believe that genuine utility is achievable. The experience includes development of over 65 task applications using voiced command, joystick control, natural language command and 3D object designation technology. A brief foray into virtual environments, using flight simulator technology, was instructive. If reality and virtuality come for comparable prices, you cannot beat reality. A detailed review of assistive robot anatomy and the performance specifications needed to achieve cost/beneficial utility will be used to support discussion of the future of rehabilitation telerobotics. Poised on the threshold of commercial viability, but constrained by the high cost of technically adequate manipulators, this worthy application domain flounders temporarily. In the long run, it will be the user interface that governs utility.

Leifer, Larry↗
NASA NTRS1981

Robots in modern industry

A survey is presented of robotic device types and capabilities, and an assessment is made of the relative benefits they confer in present and planned numbers on such industrial countries as Japan, the U.S., and West Germany. Attention is also given to possible social impacts of large-scale implementation, and the need for close consultation between management and labor is stressed. It is reported that, while the hourly cost of robot labor remained at between $4.00 and $4.60 over the period 1960-present, human hourly labor costs (including fringe benefits) have risen from less than $4.00 to nearly $17.00. Among the types of devices described are: (1) remotely controlled manipulator vehicles; (2) undersea robotic craft; (3) servo-controlled robots; and (4) articulated robots. Also covered are robot programming languages derived from such standard languages as ALGOL, FORTRAN, and BASIC.

Heer, E.↗
NASA NTRS1992

Robust tuning of robot control systems

The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

Minis, I.↗
NASA NTRS1994

ARK: Autonomous mobile robot in an industrial environment

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Nickerson, S. B.↗
NASA NTRS1988

Three degree-of-freedom force feedback control for robotic mating of umbilical lines

The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

Fullmer, R. Rees↗
NASA NTRS1989

Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

Zia, Omar↗
NASA NTRS2010

Low-Friction, Low-Profile, High-Moment Two-Axis Joint

The two-axis joint is a mechanical device that provides two-degrees-of-freedom motion between connected components. A compact, moment-resistant, two-axis joint is used to connect an electromechanical actuator to its driven structural members. Due to the requirements of the overall mechanism, the joint has a low profile to fit within the allowable space, low friction, and high moment-reacting capability. The mechanical arrangement of this joint can withstand high moments when loads are applied. These features allow the joint to be used in tight spaces where a high load capability is required, as well as in applications where penetrating the mounting surface is not an option or where surface mounting is required. The joint consists of one base, one clevis, one cap, two needle bearings, and a circular shim. The base of the joint is the housing (the base and the cap together), and is connected to the grounding structure via fasteners and a bolt pattern. Captive within the housing, between the base and the cap, are the rotating clevis and the needle bearings. The clevis is attached to the mechanical system (linear actuator) via a pin. This pin, and the rotational movement of the clevis with respect to the housing, provides two rotational degrees of freedom. The larger diameter flange of the clevis is sandwiched between a pair of needle bearings, one on each side of the flange. During the assembly of the two-axis joint, the circular shims are used to adjust the amount of preload that is applied to the needle bearings. The above arrangement enables the joint to handle high moments with minimal friction. To achieve the high-moment capability within a low-profile joint, the use of depth of engagement (like that of a conventional rotating shaft) to react moment is replaced with planar engagement parallel to the mounting surface. The needle bearings with the clevis flange provide the surface area to react the clevis loads/moments into the joint housing while providing minimal friction during rotation. The diameter of the flange and the bearings can be increased to react higher loads and still maintain a compact surface mounting capability. This type of joint can be used in a wide variety of mechanisms and mechanical systems. It is especially effective where precise, smooth, continuous motion is required. For example, the joint can be used at the end of a linear actuator that is required to extend and rotate simultaneously. The current design application is for use in a spacecraft docking-system capture mechanism. Other applications might include industrial robotic or assembly line apparatuses, positioning systems, or in the motion-based simulator industry that employs complex, multi-axis manipulators for various types of motions.

Lewis, James L.↗
NASA NTRS2003

Lending a Helping Hand

Barrett Technology, Inc., of Cambridge, Massachusetts, received the 2003 Robotic Industries Association s Joseph Engelberger Award for Technology Leadership based on successful commercialization of its novel robotic manipulators. Designed for applications requiring superior adaptability, programmability, and dexterity, Barrett s devices provide state-of-the-art functionality and capability, as well as product integration with existing technology. The cutting-edge robotic manipulators originated through collaboration with NASA, the National Science Foundation, and the U.S. Air Force.

Source record↗
NASA NTRS2019

Portable Laser Guided Robotic Metrology System

This paper introduces the new Portable Laser Guided Robotic antenna range (PLGR) at the National Aeronautics and Space Administration's (NASA) Glenn Research Center. Previous work used industrial robots in fixed facilities to characterize antennas and required fixtures that do not lend themselves to portable applications.NASA's PLGR system is designed for in-situ antenna measurements at a remote site. The system consists of a robot arm mounted on a vertical lift and a laser tracker, each on a portable base. The lift and laser tracker enable scanning a surface larger than the robot's reach. To accomplish this the robot first collects all points within its reach, then the system is moved and the laser tracker is used to relocate the robot before additional points are captured.The PLGR architecture will be discussed including how safety systems and path planning are combined to effectively characterize antennas. Software was written in high level languages for flexible integration of vector network analyzers and antenna controllers. Lastly, data will be shown to demonstrate the system functionality and accuracy.

Slater, Peter A.↗