Results for “end effector” — Page 5

NASA NTRS2024

ISS External Microorganisms: A Planetary Protection Experiment to Inform Requirements for Crewed Missions to Mars

We have developed, tested, and flown a caddy capable of collecting aseptic samples from external surfaces of the ISS (International Space Station). The sampling caddy is certified for use during US EVA (extra vehicular activity) and was launched to ISS in the summer of 2023. We are scheduled to collect samples from 6 locations outside ISS during an EVA in May of 2024. We will freeze these samples at -80°C on orbit and return them to Earth. We will then extract and sequence any DNA collected during the EVA using next generation sequencing technologies to characterize the community composition and function of each sample. Measuring the type and quantity of microbes present on the exterior of ISS will allow us to address knowledge gap 2B, “Acceptable levels of microbial/organic releases from humans and support systems” described in a 2019 COSPAR report. Collecting data about microbial release from current crewed vehicles will inform requirements for acceptable leak rates for future crewed missions to Mars. The sampling kit consists of eight commercially available, sterile, DNA free, macrofoam swabs ( 23 mm. diameter ) installed in custom aluminum end effectors. Each end effector is housed in and individual aluminum canister. Each canister contains a 0.2 μm Teflon filter to allow the interior volume to accommodate pressure changes without permitting microbial contaminants to enter the sterile interior volume. A handle repurposed from the space shuttle tile repair kit is used to remove the end effector from the sample canister, collect a sample by swabbing a surface and then replace the end effector in its canister. The canisters and end effectors were cleaned and assembled on Earth. Prior to installing the sterile swab the canisters and end effectors were sterilized in an autoclave at 134°C, 215 kPA, for 7 min.. The final assembly occurred in a sterilized class II biosafety cabinet. We will collect six samples from the 1) airlock vestibule, 2) airlock thermal cover, 3) a gap in the micrometeorite shielding near the airlock, 4) a handrail near the airlock, 5) the CDRA (Carbon Dioxide Removal Assembly) vent, and 6) the VES (Vacuum Exhaust System) vent. The remaining two swabs will be reserved as controls. One swab will be exposed during the EVA without touching any surfaces to act as a blank. The final swab will remain sealed until the entire sampling kit is returned to earth. Based on previously published results from the Russian segment, we hypothesize that there will be detectable microbes at some or all of these locations. Ground-based testing of this sampling caddy confirms that the swabs remain sterile as the canisters transition in and out of vacuum. We were able to retrieve, viable bacterial and fungal cells as well as DNA from samples collected from US space suits during vacuum chamber tests lasting as long as seven hours. Based on these results and feedback from the test subjects the sampling caddy was modified to improve ergonomics and meet US EVA safety requirements. Bayonet probes were added to the sides of the sample kit as alternate mounting points. Additional locking features were added to the end effector and the filter stack to prevent inadvertent release during use. The opening mechanism was changed from one where the end effector was rocked laterally to defeat a ball detent to a twist-to-open threaded closure for similar reasons. Demonstrating, this sampling caddy’s effectiveness during a US EVA will allow us to address knowledge gaps identified in COSPAR reports and begin to define planetary protection requirements for life support systems on crewed missions to mars. This kit could also be used to collect contamination control samples during Artemis missions to verify requirements and could be easily modified for robotic sample collection.

Planetary Protection↗

NASA NTRSDate not supplied

ISS External Microorganisms: Collecting Planetary Protection Samples During Extravehicular Activity

We have developed, tested, and flown a caddy capable of collecting aseptic samples from external surfaces of the ISS (International Space Station). The sampling caddy is certified for use during US EVA (extra vehicular activity) and was launched to ISS in the summer of 2023. We are scheduled to collect samples from 6 locations outside ISS during an EVA in May of 2024. We will freeze these samples at -80°C on orbit and return them to Earth. We will then extract and sequence any DNA collected during the EVA using next generation sequencing technologies to characterize the community composition and function of each sample. Measuring the type and quantity of microbes present on the exterior of ISS will allow us to address knowledge gap 2B, “Acceptable levels of microbial/organic releases from humans and support systems” described in a 2019 COSPAR report. Collecting data about microbial release from current crewed vehicles will inform requirements for acceptable leak rates for future crewed missions to Mars. The sampling kit consists of eight commercially available, sterile, DNA free, macrofoam swabs ( 23 mm. diameter ) installed in custom aluminum end effectors. Each end effector is housed in and individual aluminum canister. Each canister contains a 0.2 μm Teflon filter to allow the interior volume to accommodate pressure changes without permitting microbial contaminants to enter the sterile interior volume. A handle repurposed from the space shuttle tile repair kit is used to remove the end effector from the sample canister, collect a sample by swabbing a surface and then replace the end effector in its canister. The canisters and end effectors were cleaned and assembled on Earth. Prior to installing the sterile swab the canisters and end effectors were sterilized in an autoclave at 134°C, 215 kPA, for 7 min.. The final assembly occurred in a sterilized class II biosafety cabinet. We will collect six samples from the 1) airlock vestibule, 2) airlock thermal cover, 3) a gap in the micrometeorite shielding near the airlock, 4) a handrail near the airlock, 5) the CDRA (Carbon Dioxide Removal Assembly) vent, and 6) the VES (Vacuum Exhaust System) vent. The remaining two swabs will be reserved as controls. One swab will be exposed during the EVA without touching any surfaces to act as a blank. The final swab will remain sealed until the entire sampling kit is returned to earth. Based on previously published results from the Russian segment, we hypothesize that there will be detectable microbes at some or all of these locations. Ground-based testing of this sampling caddy confirms that the swabs remain sterile as the canisters transition in and out of vacuum. We were able to retrieve, viable bacterial and fungal cells as well as DNA from samples collected from US space suits during vacuum chamber tests lasting as long as seven hours. Based on these results and feedback from the test subjects the sampling caddy was modified to improve ergonomics and meet US EVA safety requirements. Bayonet probes were added to the sides of the sample kit as alternate mounting points. Additional locking features were added to the end effector and the filter stack to prevent inadvertent release during use. The opening mechanism was changed from one where the end effector was rocked laterally to defeat a ball detent to a twist-to-open threaded closure for similar reasons. Demonstrating, this sampling caddy’s effectiveness during a US EVA will allow us to address knowledge gaps identified in COSPAR reports and begin to define planetary protection requirements for life support systems on crewed missions to mars. This kit could also be used to collect contamination control samples during Artemis missions to verify requirements and could be easily modified for robotic sample collection.

Planetary Protection↗

NASA NTRS1987

Local Data Processing for a Robot Hand

Integrated-circuit microcomputers process signals among sensors, external controls, and end-effector motor. Multiple-microprocessor system within end effector of remote manipulator accepts data from sensors in end effector, commumnicates with external control system, and controls end-effector motor. External system includes central control computer (which interacts with operator) and display. Local dataprocessing system in end effector relieves external control system of some of its computational load and minimizes data communication load with external higher level controller.

Bejczy, A. K.↗

NASA NTRS1991

Experimental study of trajectory planning and control of a high precision robot manipulator

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Nguyen, Charles C.↗

NASA NTRS2008

Tactile Robotic Topographical Mapping Without Force or Contact Sensors

A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure.

Burke, Kevin↗

NASA NTRS2004

Hybrid Image-Plane/Stereo Manipulation

Hybrid Image-Plane/Stereo (HIPS) manipulation is a method of processing image data, and of controlling a robotic manipulator arm in response to the data, that enables the manipulator arm to place an end-effector (an instrument or tool) precisely with respect to a target (see figure). Unlike other stereoscopic machine-vision-based methods of controlling robots, this method is robust in the face of calibration errors and changes in calibration during operation. In this method, a stereoscopic pair of cameras on the robot first acquires images of the manipulator at a set of predefined poses. The image data are processed to obtain image-plane coordinates of known visible features of the end-effector. Next, there is computed an initial calibration in the form of a mapping between (1) the image-plane coordinates and (2) the nominal three-dimensional coordinates of the noted end-effector features in a reference frame fixed to the main robot body at the base of the manipulator. The nominal three-dimensional coordinates are obtained by use of the nominal forward kinematics of the manipulator arm that is, calculated by use of the currently measured manipulator joint angles and previously measured lengths of manipulator arm segments under the assumption that the arm segments are rigid, that the arm lengths are constant, and that there is no backlash. It is understood from the outset that these nominal three-dimensional coordinates are likely to contain possibly significant calibration errors, but the effects of the errors are progressively reduced, as described next. As the end-effector is moved toward the target, the calibration is updated repeatedly by use of data from newly acquired images of the end-effector and of the corresponding nominal coordinates in the manipulator reference frame. By use of the updated calibration, the coordinates of the target are computed in manipulator-reference-frame coordinates and then used to the necessary manipulator joint angles to position and orient the end-effector at the target with respect to the same kinematic model from the calibration step. As the end-effector/target distance decreases, the computed coordinates of the end-effector and target become more nearly affected by the same errors, so that the differences between their coordinates become increasingly precise. When the end-effector reaches the target, the remaining effective position error is the distance that corresponds to more than about one pixel in the stereoscopic images of the target.

Baumgartner, Eric↗

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 NTRS1993

Model-based automatic generation of grasping regions

The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region.

Bloss, David A.↗

NASA NTRS1988

Deflection prediction for serial manipulators

A method of deflection analysis for a general serial manipulator which considers end-effector, gravity, and inertial loads is described. The conceptualized manipulator can have many degrees of freedom and be of the most general geometry. The analysis returns end-effector error based on a quasi-static approach. Thus, small oscillations (due to vibrations) are ignored and the inertial loads are considered applied loads. A kinematic analysis based on geometric influence coefficients is used to obtaining resultant joint loads. A flexibility analysis sufficient to describe general link deformation is performed to yield the local link deformations. These local values are transformed to end-effector deflections through the use of the kinematic influence coefficients as a first order approximation. End-effector deflection due to flexibilities in the joint actuators is addressed. A description of the generalized end-effector spring is presented.

Fresonke, D. A.↗

NASA NTRS1990

Multiple task point control of a redundant manipulator

The kinematic control of a redundant arm based on multiple tasks assigned to different locations of the manipulator is presented. This is equivalent to decomposing a redundant arm into two (or more) nonredundant local arms, the basearm and the forearm, at an intermediate arm location or task point called the elbow. A redundant arm is transformed into a serially cooperating dual-arm system, with the cooperation between the local arms being carried out at the elbow. Then, a manipulator end-effector motion specified by a given task is decomposed into motions of individual local arms as well as an end-effector free motion based on achieving maximum efficiency in task execution. To consider global optimization, elbow control is applied to reshaping and reorientation of a manipulability ellipsoid at the end effector during task execution. The resolved rate control of elbow in the end-effector null and free motion space is used to maximize arm homogeneity and to match the forearm motion space with the task space. Simulation results are shown.

Lee, Sukhan↗

NASA NTRSDate not supplied

OceanWATERS Lander Robotic Arm Operation

Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) is an open-source simulator for developing onboard autonomy software for robotic exploration of ocean worlds, such as Europa, Enceladus, and Titan, built on the Robot Operating System (ROS) and Gazebo simulation environment. Inevitable ground communication delays increase demand for a high degree of autonomy during excavation, collection and transfer of samples to scientific instruments for in-situ analysis. This paper offers a detailed discussion of the robotic arm design and operation for such autonomous surface exploration, taking as reference the Europa Lander mission. The lander arm, which is designed primarily to acquire icy surface and subsurface samples within the arm’s workspace, is a 6-degree-of-freedom manipulator with two end effectors: a sample excavation tool and a trenching end-effector. The robotic arm’s modes and operations can be summarized as follows: stowed arm, intended as the lander arm default configuration characterized by zero-power consumption; un-stowed arm, target arm configuration after its first deployment; selection and deployment of the end-effector to use next; guarded move, to detect ground level at the desired trenching location; drill ice using the grinder; dig trench at a particular location using the scoop; deliver sample to the sample transfer dock; discard redundant samples. The motion planning tool used for the lander arm is MoveIt, a ROS package. MoveIt uses sampling-based planning and collision checking libraries to determine safe paths. The Rapidly Exploring Random Trees* (RRT*) has been chosen as default planning algorithm as it provides optimal plans with an exponential speed and is guaranteed to find a solution, if feasible solutions exist. Furthermore, this work quantifies and discusses the energy requirements for excavating and collecting samples. In OceanWATERS, force feedback from the terrain, which influences the arm dynamics, is modelled using a discrete element method (DEM) simulation. The DEM and Gazebo software run in parallel and communicate through a co-simulation plugin. This paper presents an analysis and comparison of three DEM open source software (YADE, ESyS-Particle, Project Chrono) for implementation in OceanWATERS and motivates the choice of YADE as most suitable candidate.

Damiana Catanoso↗

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 NTRS1987

Adaptive control of dual-arm robots

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

Seraji, H.↗

NASA NTRS1991

Dual-arm manipulators with adaptive control

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗

NASA NTRS1995

Method and apparatus for adaptive force and position control of manipulators

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Seraji, Homayoun↗

NASA NTRS2009

Integrated Modeling of Spacecraft Touch-and-Go Sampling

An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.

Quadrelli, Marco↗

NASA NTRS1991

On controlling robots with redundancy

An adaptive position control scheme for manipulators possessing either kinematic or actuator redundancy is presented. The controller is developed by considering the end-effector position control problem and redundancy resolution problem separately. The end-effector position control problem is solved by using an adaptive scheme to generate the Cartesian-space control input required to track the desired end-effector position trajectory; this control problem is nonredundant even for redundant robots. The Cartesian-space position controller is derived using a model reference adaptive control (MRAC) approach, and does not require knowledge of the complex robot dynamic model or parameter values for the robot or the payload. As a result, the scheme is applicable to both open-chain and closed-chain robots, and is computationally efficient for on-line implementations.

Colbaugh, R.↗

NASA NTRS1989

A new approach to global control of redundant manipulators

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. 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. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. 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 control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Seraji, Homayoun↗