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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Method and apparatus for adaptive force and position control of manipulators

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Seraji, Homayoun↗
NASA NTRS1989

Robust high-performance control for robotic manipulators

A robust control scheme to accomplish accurate trajectory tracking for an integrated system of manipulator-plus-actuators is proposed. The control scheme comprises a feedforward and a feedback controller. The feedforward controller contains any known part of the manipulator dynamics that can be used for online control. The feedback controller consists of adaptive position and velocity feedback gains and an auxiliary signal which is simply generated by a fixed-gain proportional/integral/derivative controller. The feedback controller is updated by very simple adaptation laws which contain both proportional and integral adaptation terms. By introduction of a simple sigma modification to the adaptation laws, robustness is guaranteed in the presence of unmodeled dynamics and disturbances.

Seraji, H.↗
NASA NTRS1989

Modeling and sensory feedback control for space manipulators

The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme.

Masutani, Yasuhiro↗
NASA NTRS1987

Adaptive force-position control for teleoperated manipulators

An adaptive controller with self-tuning can be designed for teleoperated robotic manipulators by determining a time-series model for the function of the teleoperator. Specifically, the position and force exerted by the operator are modelled for determining the derived values for the trajectory of the end-effector of the manipulator. Thus, the adaptive controller can be designed by following the steps which have previously been presented for the controller design of the gross motion.

Koivo, A. J.↗
NASA NTRS1993

Kinematics and control of a fully parallel force-reflecting hand controller for manipulator teleoperation

Design of a parallel force-reflecting hand controller that implements a friction- and inertia canceling control loop about the entire mechanism based on wrench sensing in the mechanism handgrip is discussed. Kinematics of the controller under consideration is analyzed and results are presented using a closed-form solution for the inverse kinematics and Newton-Raphson's method for the forward kinematics. Results indicate that the force control scheme based on a handgrip force sensor provides smaller steady-state errors than the scheme without a handigrip sensor.

Bryfogle, Mark D.↗
NASA NTRS1989

Controlling multiple manipulators using RIPS

A prototype of the RIPS architecture (Robotic Instruction Processing System) was developed. A two arm robot control experiment is underway to characterize the architecture as well as research multi-arm control. This experiment uses two manipulators to cooperatively position an object. The location of the object is specified by the host computer's mouse. Consequently, real time kinematics and dynamics are necessary. The RIPS architecture is specialized so that it can satisfy these real time constraints. The two arm experimental set-up is discussed. A major part of this work is the continued development of a good programming environment for RIPS. The C++ language is employed and favorable results exist in the targeting of this language to the RIPS hardware.

Wang, Yulun↗
NASA NTRS1992

Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

Hale, J. P., II↗
NASA NTRS1989

Characterization and control of self-motions in redundant manipulators

The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

Burdick, J.↗
NASA NTRS1978

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

Taylor, E. C.↗
NASA NTRS1972

Hierarchical hybrid control of manipulators: Artificial intelligence in large scale integrated circuits

Both in practical engineering and in control of muscular systems, low level subsystems automatically provide crude approximations to the proper response. Through low level tuning of these approximations, the proper response variant can emerge from standardized high level commands. Such systems are expressly suited to emerging large scale integrated circuit technology. A computer, using symbolic descriptions of subsystem responses, can select and shape responses of low level digital or analog microcircuits. A mathematical theory that reveals significant informational units in this style of control and software for realizing such information structures are formulated.

Greene, P. H.↗
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 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 NTRS1989

Telerobotic Architecture for an on-Orbit Servicer

An on-orbit servicer system has unique functional and human factors requirements. The servicing, whether it be teleoperation task, a supervised control task or an autonomous robotic task, the man-machine interface function is likely to be a bottleneck to the operation of the whole system. The man-machine interface system for a space servicer, namely the operator control station, includes several subsystems with a hierarchical architecture. Those subsystems include a reasoning and planning subsystem (also known as the artificial intelligence planner), a run-time control subsystem, a manipulator control and mechanization subsystem, and a sensing and perception subsystem. Indicative of these potentials, certain generic tasks, suggestive of space assembly, maintenance and repair, were performed in a testbed environment. Through performance in several modes: direct teleoperation, shared control, traded control, and robotic operation, the benefits of the individual technology contributions to the operation were quantized and recommendations for use in telerobotic systems were established.

Operator Control Station↗
DOE OSTI2020

Scaling, rotation, and channeling behavior of helical and skyrmion spin textures in thin films of Te-doped Cu 2 OSeO 3

Topologically nontrivial spin textures such as vortices, skyrmions, and monopoles are promising candidates as information carriers for future quantum information science. Their controlled manipulation including creation and annihilation remains an important challenge toward practical applications and further exploration of their emergent phenomena. Here, we report controlled evolution of the helical and skyrmion phases in thin films of multiferroic Te-doped Cu 2 OSeO 3 as a function of material thickness, dopant, temperature, and magnetic field using in situ Lorentz phase microscopy. We report two previously unknown phenomena in chiral spin textures in multiferroic Cu 2 OSeO 3 : anisotropic scaling and channeling with a fixed-Q state. The skyrmion channeling effectively suppresses the recently reported second skyrmion phase formation at low temperature. Our study provides a viable way toward controlled manipulation of skyrmion lattices, envisaging chirality-controlled skyrmion flow circuits and enabling precise measurement of emergent electromagnetic induction and topological Hall effects in skyrmion lattices.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
NASA NTRS1976

A simplified application of the method of operators to the calculation disturbed motions of an airplane

A simplified treatment of the application of Heaviside's operational methods to problems of airplane dynamics is given. Certain graphical methods and logarithmic formulas that lessen the amount of computation involved are explained. The problem of representing a gust disturbance or control manipulation is taken up and it is pointed out that in certain cases arbitrary control manipulations may be dealt with as though they imposed specific constraints on the airplane, thus avoiding the necessity of any integration whatever.

Jones, R. T.↗
NASA NTRS1937

A simplified application of the method of operators to the calculation of disturbed motions of an airplane

A simplified treatment of the application of Heaviside's operational methods to problems of airplane dynamics is given. Certain graphical methods and logarithmic formulas that lessen the amount of computation involved are explained. The problem representing a gust disturbance or control manipulation is taken up and it is pointed out that in certain cases arbitrary control manipulations may be dealt with as though they imposed specific constraints on the airplane, thus avoiding the necessity of any integration. The application of the calculations described in the text is illustrated by several examples chosen to show the use of the methods and the practicability of the graphical and logarithmic computations described.

Jones, Robert T↗
NASA NTRS1975

Voice controlled adaptive manipulator and mobility systems for the severely handicapped

Efforts by NASA and the VA to apply available teleoperator/robot technology to rehabilitate amputees and spinal cord injured patients having severe loss of motor, manipulative, and sensory capabilities in the lower and/or upper extremities are summarized. Techniques developed include the control of a wheelchair by voice control or tongue chinswitch. The voice recognition computer and its operation are also described.

Heer, E.↗