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At least 163 records · Page 9

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NASA NTRS1978

Gravitational experiments on solar probe

A covariance analysis was performed for a solar probe trajectory which encounters the sun at four solar radii. The unknown parameters in the analysis are the six initial cartesian coordinates for the probe, six initial cartesian coordinates for the earth, the astronomical unit, the solar gravitational quadrupole coefficient and two post Newtonian meters (beta, gamma). Errors in the unknown parameters were computed as a function of standard errors on the radio tracking data and on the nongravitational forces which act on the probe. Results were obtained for several tracking geometries and for several orbital inclinations to the ecliptic. The analysis shows that the principal scientific result from the radio tracking of a solar probe would be the determination of the quadrupole moment, which would place a constraint on models of the solar interior.

Anderson, J. D.↗

NASA NTRS1979

Useful coordinate transformations for antenna applications

General coordinate transformations which are commonly encountered in many antenna applications are presented. Neither the feed coordinates nor the far-field pattern coordinates in general coincide with the antenna coordinates. Transformations discussed allow one to relate the spherical and cartesian components of one system to the spherical and cartesian components of the other system. In particular, attempts are made to use unified notations to assist in a straightforward application of the transformations.

Rahmat-Samii, Y.↗

NASA NTRS1980

Computer coordination of limb motion for a three-legged walking robot

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Klein, C. A.↗

NASA NTRS1981

Three methods for performing Hankel transforms

Three methods for performing Hankel transforms with optical or digital processors are described. The first method is applicable when the input data is available in Cartesian (x-y) format and uses the close connection between generalized Hankel transform and the two dimensional Fourier transform in Cartesian coordinates. The second method is useful when the input data is in polar (r - theta) format and uses change of variables to perform the nth order Hankel transform as a correlation integral. The third method utilizes the von Neumann addition theorem for Bessel functions to extract the Hankel coefficients from a correlation between the radial part of the input and a Bessel function. Initial experimental results obtained for optical implementation of the first two methods are presented.

Athale, R. A.↗

NASA NTRS1981

Test problems for inviscid transonic flow

The paper discusses some results obtained in the solving of test problems for inviscid transonic flow with shock waves using the TRANDES program. The method used employs the full inviscid perturbation-potential flow equation in a Cartesian grid system that is stretched to infinity. The equation is represented by a nonconservative system of finite-difference equations that includes at supersonic points a rotated difference scheme and is solved by column relaxation. Except for the NACA 0012 case with the freestream Mach number equal to 0.95, all test problems were solved straightforwardly and appeared to be converged or close to convergence. The only difficulty was some sensitivity to grid placement, which is typical of the Cartesian formulation

Carlson, L. A.↗

NASA NTRS1982

Solution of axisymmetric fluid structure interaction problems with NASTRAN

The solution of axisymmetric acoustic fluid structure interaction problems, employing the NASTRAN computer program is presented. A previously developed 3-D Cartesian Coordinates pressure element formulation is adapted especially for axisymmetric elements. Analogous to the 3-D Cartesian Coordinate predecessor, the fluid portion of the problem is modeled with finite elements wherein one of the displacement components serves as a dummy variable for the pressure unknowns. Two alternatives for implementation of the analogy are presented: (1) an approximate method by which dummy values of G, and nu are used to approximately invoke the analogy wherein the accuracy of the approximation is made as close as desired to the proper analogy within an arbitrary small parameter epsiton; (2) an exact method whereby the NASTRAN FORTRAN coding is slightly changed to invoke the analogy exactly. Comparison of the finite element solution to the exact solution to the same problem is given.

Kalinowski, A. J.↗

NASA NTRS1982

Errors in fixed and moving frame of references - Applications for conventional and Doppler radar analysis

Techniques for the correction of errors in Doppler radar scans due to advection effects are presented. A moving frame of reference is shown to be useful in least-squares estimates with stationary observations expressed in scalars or Cartesian coordinates. For non-Cartesian coordinates, such as the deduction of radial velocities from triple Doppler radar data, an integral is defined for accounting for advection effects and consequent coordinate transformations. The multiple radars are necessary for unambiguous characterization of the horizontal wind velocity. A scale analysis is employed to estimate errors with and without the error correction procedure. Improvements in correlations between scans are demonstrated when the error correction method is used.

Tzvi, G.-C.↗

NASA NTRS1981

Estimation and correction of advection effects with single and multiple, conventional and Doppler radars

The laws of fluid motion are invariant under a Gallilean transformation. For a perfect observing system, the data analysis should, therefore, also be invariant under a Gallilean transformation. This invariance is often not preserved in practical observing systems. In this connection, it is often advisable to perform mesoscale analysis in a frame moving with respect to the earth's surface. In the present investigation the velocity of such a frame is referred to as an advection velocity. The investigation is concerned with remaining problems regarding the Gallilean transformation. The establishment of a frame of reference for the achievement of maximum coherence is considered, taking into account the case of given nonsimultaneous observations of scalars or Cartesian vectors. It is found that advection speed can be estimated objectively if a scalar or Cartesian vector can be observed directly and if, in addition, the time and position of each observation is approximately known.

Gal-Chen, T.↗

NASA NTRS1985

Three-dimensional inviscid flow analysis of turbofan forced mixers

A three-dimensional potential analysis has been formulated and applied to the inviscid flow over a turbofan forced mixer. The method uses a unique small disturbance formulation to analytically uncouple the circumferential flow from the radial and axial flow problem, thereby reducing the analysis to the solution of a series of axisymmetric problems. These equations are discretized using a flux volume formulation along a Cartesian grid. The method extends earlier applications of the Cartesian method to complex cambered geometries. The effects of power addition are also included within the potential formulation. Good agreement is obtained with an alternate small disturbance analysis for a symmetric mixer in a planar duct. In addition calculations showing pressure distributions and induced secondary vorticity fields are presented for practical turbofan mixer configurations, and where possible, comparison has been made with available experimental data.

Barber, T. J.↗

NASA NTRS1987

An approach to multivariable control of manipulators

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

Seraji, H.↗

NASA NTRS1989

Exponential Finite-Difference Technique

Report discusses use of explicit exponential finite-difference technique to solve various diffusion-type partial differential equations. Study extends technique to transient-heat-transfer problems in one dimensional cylindrical coordinates and two and three dimensional Cartesian coordinates and to some nonlinear problems in one or two Cartesian coordinates.

Handschuh, Robert F.↗

NASA NTRS1988

Turbofan forced mixer lobe flow modeling. 2: Three-dimensional inviscid mixer analysis (FLOMIX)

A three-dimensional potential analysis (FLOMIX) was formulated and applied to the inviscid flow over a turbofan foced mixer. The method uses a small disturbance formulation to analytically uncouple the circumferential flow from the radial and axial flow problem, thereby reducing the analysis to the solution of a series of axisymmetric problems. These equations are discretized using a flux volume formulation along a Cartesian grid. The method extends earlier applications of the Cartesian method to complex cambered geometries. The effects of power addition are also included within the potential formulation. Good agreement is obtained with an alternate small disturbance analysis for a high penetration symmetric mixer in a planar duct. In addition, calculations showing pressure distributions and induced secondary vorticity fields are presented for practical trubofan mixer configurations, and where possible, comparison was made with available experimental data. A detailed description of the required data input and coordinate definition is presented along with a sample data set for a practical forced mixer configuration. A brief description of the program structure and subroutines is also provided.

Barber, T.↗

NASA NTRS1989

A geometric derivation of Kane's equations

A geometrically-based derivation of Kane's dynamical equations is presented. Equations for both holonomic and nonholonomic systems are derived by considering the system's motion in a hypersurface determined from the equations relating Cartesian to generalized coordinates. Using vector space methods, the equations of motion are projected onto the tangent plane to the hypersurface. In the course of this construction, a requirement on the transformation between generalized and Cartesian coordinates is revealed that is often overlooked. This restriction is then shown to be a necessary and sufficient condition for the invertibility of the coefficient matrix of the generalized accelerations appearing in Kane's dynamical equations. Although less succinct than the traditional approach, the present derivation offers some insight into the physics embodied in Kane's equations and appears as a natural generalization of methods used in elementary problems.

Storch, Joel↗

NASA NTRS1989

Configuration space representation in parallel coordinates

By means of a system of parallel coordinates, a nonprojective mapping from R exp N to R squared is obtained for any positive integer N. In this way multivariate data and relations can be represented in the Euclidean plane (embedded in the projective plane). Basically, R squared with Cartesian coordinates is augmented by N parallel axes, one for each variable. The N joint variables of a robotic device can be represented graphically by using parallel coordinates. It is pointed out that some properties of the relation are better perceived visually from the parallel coordinate representation, and that new algorithms and data structures can be obtained from this representation. The main features of parallel coordinates are described, and an example is presented of their use for configuration space representation of a mechanical arm (where Cartesian coordinates cannot be used).

Fiorini, Paolo↗

NASA NTRS1990

Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

Nguyen, Charles C.↗

NASA NTRS1989

The KALI multi-arm robot programming and control environment

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Backes, Paul↗

NASA NTRS1991

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Nguyen, Charles C.↗

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↗