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  • 1
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    Random-Field Estimation For Dynamics Of Robots (1990)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: Report discusses use of random-field mathematical models as alternatives to deterministic models of classical mechanics to describe dynamics of robot arms. These alternative models used to establish relationship between methods of estimation theory and robot dynamics. Approach yields new class of algorithms performing computations typical of estimation theory to solve such fundamental problems in robotics as forward and inverse dynamics and inverse kinematics.
    Keywords: MATHEMATICS AND INFORMATION SCIENCES
    Type: NPO-17788 , NASA Tech Briefs (ISSN 0145-319X); 14; 12; P. 66
    Format: text
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    NASA TECHNICAL REPORTS
  • 2
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    Recursive Filtering And Smoothing In Robot Dynamics (1992)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: Techniques developed originally for electronic systems also useful for multibody mechanical systems. Report summarizes methods developed to solve nonlinear forward-dynamics problem for robot of multiple-link arms connected by joints. Primary objective to show equivalence between recursive methods of dynamical analysis and some filtering and smoothing techniques from state-estimation theory.
    Keywords: MATHEMATICS AND INFORMATION SCIENCES
    Type: NPO-17787 , NASA Tech Briefs (ISSN 0145-319X); 16; 3; P. 91
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    NASA TECHNICAL REPORTS
  • 3
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    Integrated Analysis Of Static Distributed Systems (1988)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: Integrated approach encompasses modeling, identification of parameters, estimation of states, and control. Applies to models specified in part by possibly interconnected elliptic partial differential equations for deflections of structures under static loads. Appropriate for systems in which time-dependent effects negligibleand where control forces applied without exciting significiant dynamic behavior.
    Keywords: MATHEMATICS AND INFORMATION SCIENCES
    Type: NPO-17010 , NASA Tech Briefs (ISSN 0145-319X); 12; 8; P. 96
    Format: text
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  • 4
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    Spatial-Operator Algebra For Robotic Manipulators (1991)
    In:  Other Sources
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    Publication Date: 2019-07-12
    Description: Report discusses spatial-operator algebra developed in recent studies of mathematical modeling, control, and design of trajectories of robotic manipulators. Provides succinct representation of mathematically complicated interactions among multiple joints and links of manipulator, thereby relieving analyst of most of tedium of detailed algebraic manipulations. Presents analytical formulation of spatial-operator algebra, describes some specific applications, summarizes current research, and discusses implementation of spatial-operator algebra in the Ada programming language.
    Keywords: MATHEMATICS AND INFORMATION SCIENCES
    Type: NPO-17770 , NASA Tech Briefs (ISSN 0145-319X); 15; 8; P. 88
    Format: text
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    NASA TECHNICAL REPORTS
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