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  • 1
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    Motion control of 7-DOF arms - The configuration control approach (1993)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Robotics and Automation (ISSN 1042-296X); 9; 2; p. 125-139.
    Format: text
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  • 2
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    The RAPT control method for nonlinear systems (1991)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: The Rapid Advancement Preview Tracking (RAPT) control method uses both a nonlinear system model and a linearized system model to provide a form of feedback/preview control for nonlinear systems. It uses measurements of the states to calculate the current preview control signal from a local linearization of the state equations, and then iteratively calculates a perturbation correction for that control using the nonlinear equations. The corrected control signal is then applied to the system, driving the end-effector to the next position along a specified trajectory. Computer simulations of tracking control for two-link planar manipulators indicate that this algorithm may be fast enough for real-time control.
    Keywords: CYBERNETICS
    Type: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control (ISSN 0022-0434); 113; 736-741
    Format: text
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  • 3
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    Autonomous power expert system (1990)
    In:  CASI
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    Publication Date: 2019-04-02
    Description: The Autonomous Power Expert (APEX) system was designed to monitor and diagnose fault conditions that occur within the Space Station Freedom Electrical Power System (SSF/EPS) Testbed. APEX is designed to interface with SSF/EPS testbed power management controllers to provide enhanced autonomous operation and control capability. The APEX architecture consists of three components: (1) a rule-based expert system, (2) a testbed data acquisition interface, and (3) a power scheduler interface. Fault detection, fault isolation, justification of probable causes, recommended actions, and incipient fault analysis are the main functions of the expert system component. The data acquisition component requests and receives pertinent parametric values from the EPS testbed and asserts the values into a knowledge base. Power load profile information is obtained from a remote scheduler through the power scheduler interface component. The current APEX design and development work is discussed. Operation and use of APEX by way of the user interface screens is also covered.
    Keywords: CYBERNETICS
    Type: NASA, Goddard Space Flight Center, The 1990 Goddard Conference on Space Applications of Artificial Intelligence; p 147-156
    Format: application/pdf
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  • 4
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    Neural self-tuning adaptive control of non-minimum phase system (1993)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity, if not unstable, closed-loop behavior. Therefore, a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.
    Keywords: CYBERNETICS
    Type: NASA-CR-193109 , NAS 1.26:193109 , International Conference on Artificial Neural Networks in Engineering (ANNIE 1993); Jan 01, 1993; Denver, CO; United States
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  • 5
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    Kinematic analysis of 7-DOF manipulators (1992)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: This article presents a kinematic analysis of seven-degree-of-freedom serial link spatial manipulators with revolute joints. To uniquely determine the joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable that defines the angle between the arm plane and a reference plane. The forward kinematic mappings from joint space to end-effector coordinates and arm angle and the augmented Jacobian matrix that gives end-effector and arm angle rates as functions of joint rates are presented. Conditions under which the augmented Jacobian becomes singular are also given and are shown to correspond to the arm being either at a kinematically singular configuration or at a nonsingular configuration for which the arm angle ceases to parameterize the redundancy.
    Keywords: CYBERNETICS
    Type: International Journal of Robotics Research (ISSN 0278-3649); 11; 5; p. 469-481.
    Format: text
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