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  • 1
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    Recursive dynamics algorithm for multibody systems with prescribed motion (1993)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive, and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multibody systems. Changes to the prescribed/nonprescribed nature of hinges can be implemented during run time since they are handled with very low overhead in the algorithm.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: Journal of Guidance, Control, and Dynamics (ISSN 0731-5090); 16; 5; p. 830-837.
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  • 2
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    Spatial operator factorization and inversion of the manipulator mass matrix (1992)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: This paper advances two linear operator factorizations of the manipulator mass matrix. Embedded in the factorizations are many of the techniques that are regarded as very efficient computational solutions to inverse and forward dynamics problems. The operator factorizations provide a high-level architectural understanding of the mass matrix and its inverse, which is not visible in the detailed algorithms. They also lead to a new approach to the development of computer programs or organize complexity in robot dynamics.
    Keywords: MECHANICAL ENGINEERING
    Type: IEEE Transactions on Robotics and Automation (ISSN 1042-296X); 8; 65-76
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  • 3
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    Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics (1987)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.
    Keywords: CYBERNETICS
    Type: IEEE Journal of Robotics and Automation (ISSN 0882-4967); RA-3; 624-639
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  • 4
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    Recursive forward dynamics for multiple robot arms moving a common task object (1989)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Robotics and Automation (ISSN 1042-296X); 5; 510-521
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  • 5
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    Random field estimation approach to robot dynamics (1990)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The difference equations of Kalman filtering and smoothing recursively factor and invert the covariance of the output of a linear state-space system driven by a white-noise process. Here it is shown that similar recursive techniques factor and invert the inertia matrix of a multibody robot system. The random field models are based on the assumption that all of the inertial (D'Alembert) forces in the system are represented by a spatially distributed white-noise model. They are easier to describe than the models based on classical mechanics, which typically require extensive derivation and manipulation of equations of motion for complex mechanical systems. With the spatially random models, more primitive locally specified computations result in a global collective system behavior equivalent to that obtained with deterministic models. The primary goal of applying random field estimation is to provide a concise analytical foundation for solving robot control and motion planning problems.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Systems, Man, and Cybernetics (ISSN 0018-9472); 20; 1081-109
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  • 6
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    Telerobotics for Microsurgery (1996)
    In:  Other Sources
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    Publication Date: 2018-06-08
    Description: None given. Covers recent advances in robotics and their applicaiton to microsurgery.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 7
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    A Spatial Operator Algebra for Computational Multibody Dynamics (1997)
    In:  Other Sources
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    Publication Date: 2018-06-08
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  • 8
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    High level language-based robotic control system (1994)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.
    Keywords: CYBERNETICS
    Format: application/pdf
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  • 9
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    Toward a Systematic Approach for Selection of NASA Technology Portfolios (2004)
    In:  Other Sources
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    Publication Date: 2018-06-11
    Description: There is an important need for a consistent analytical foundation supporting the selection and monitoring of R&D tasks that support new system concepts that enable future NASA missions. This capability should be applicable at various degrees of abstraction, depending upon whether one is interested in formulation, development, or operations. It should also be applicable to a single project, a program comprised of a group of projects, an enterprise typically including multiple programs, and the overall agency itself. Emphasis here is on technology selection and new initiatives, but the same approach can be generalized to other applications, dealing, for example, with new system architectures, risk reduction, and task allocation among humans and machines. The purpose of this paper is to describe one such approach, which is in its early stages of implementation within NASA programs, and to discuss several illustrative examples.
    Keywords: Administration and Management
    Type: Systems Engineering; Volume 7; Issue 4; 285-302
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  • 10
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    Controlling under-actuated robot arms using a high speed dynamics process (1994)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The invention controls an under-actuated manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body qualities for each of the joints from the current positions of the links, and finally computing from the articulated body qualities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands to the active joint forces thus computed to the respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link, beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active, or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link in which the active joint force is computed from the residual link force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.
    Keywords: MECHANICAL ENGINEERING
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