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  • 1
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    Automation and robotics considerations for a lunar base (1992)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: An envisioned lunar outpost shares with other NASA missions many of the same criteria that have prompted the development of intelligent automation techniques with NASA. Because of increased radiation hazards, crew surface activities will probably be even more restricted than current extravehicular activity in low Earth orbit. Crew availability for routine and repetitive tasks will be at least as limited as that envisioned for the space station, particularly in the early phases of lunar development. Certain tasks are better suited to the untiring watchfulness of computers, such as the monitoring and diagnosis of multiple complex systems, and the perception and analysis of slowly developing faults in such systems. In addition, mounting costs and constrained budgets require that human resource requirements for ground control be minimized. This paper provides a glimpse of certain lunar base tasks as seen through the lens of automation and robotic (A&R) considerations. This can allow a more efficient focusing of research and development not only in A&R, but also in those technologies that will depend on A&R in the lunar environment.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA. Johnson Space Center, The Second Conference on Lunar Bases and Space Activities of the 21st Century, Volume 2; p 603-608
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  • 2
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    Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system (1989)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 4; p 431-443
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  • 3
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    Computing maximum tracking error due to payload dynamics (1990)
    In:  Other Sources
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    Publication Date: 2019-06-28
    Description: The determination of maximum endpoint tracking error due to uncompensated inertial payload dynamics is investigated. The problem is formulated on the basis of well-known kinetic and kinematic relationships with constraints on maximum joint positions and velocities as well as the generalized force/speed constraint relationship for each actuator. An endpoint tracking error objective function is formed, and numerical optimization is used to determine the maximum. An example computation is presented to show the tracking error under progressively increasing payload using a PUMA 560 manipulator with its first three joints in motion.
    Keywords: CYBERNETICS
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  • 4
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    Optimal control/structure integrated design of a flexible space platform with articulated appendages (1991)
    In:  Other Sources
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    Publication Date: 2019-06-28
    Description: A complete set of closed form symbolic equations are developed for a 2-D model of a system comprised of a flexible platform with articulated appendages. The system considered has a flexible two link manipulator, with joint compliance, at one end of the flexible platform and an articulated antenna on the other end. The model is formulated using a Lagrangian approach which incorporates homogeneous transformation matrices, similar to those typically seen in the robotics literature, for the kinematic representation. The integrated control/structure design strategy considered emphasizes rapid system response and minimal structural weight. Constraints are included to keep antenna pointing error to a minimum, and at the same time achieve accurate end point positioning of the manipulator with minimal oscillations.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: In: Structures sensing and control; Proceedings of the Meeting, Orlando, FL, Apr. 2, 3, 1991 (A93-22001 07-35); p. 243-253.
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  • 5
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    Dynamic analysis to evaluate viscoelastic passive damping augmentation for the Space Shuttle Remote Manipulator System (1992)
    In:  Other Sources
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    Publication Date: 2019-08-28
    Description: The effectiveness of constrained viscoelastic layer damping treatment designs is evaluated separately as passive control measures for low frequency joint dominated modes and higher frequency boom flexure dominated modes using a NASTRAN finite element analysis. Passive damping augmentation is proposed which is based on a constrained viscoelastic layer damping treatment applied to the surface of the manipulators's flexible booms. It is pointed out that even the joint compliance dominated modes can be damped to some degree through appropriate design of the treatment.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control (ISSN 0022-0434); 114; 3; p. 468-475.
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  • 6
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    Force control of a multi-arm robot system (1988)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: A force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.
    Keywords: CYBERNETICS
    Type: 1988 IEEE International Conference on Robotics and Automation; Apr 24, 1988 - Apr 29, 1988; Philadelphia, PA; United States
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  • 7
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    CSI design of articulated space structures (1992)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: Integrated control and structural design of flexible spacecraft with articulated appendages is considered. A procedure is proposed by which the resulting design is optimal with respect to a measure of performance for all possible system articulation conditions. The controller design is of the dynamic dissipative type which provides guaranteed closed-loop stability. The procedure is demonstrated for a simple multibody flexible spacecraft model with an articulated appendage.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: AIAA PAPER 92-4515 , 1992 AIAA/AAS Astrodynamics Conference; Aug 10, 1992 - Aug 12, 1992; Hilton Head Island, SC; United States
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  • 8
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    Advances in dynamics and control of flexible spacecraft and space-based manipulations; Proceedings of the Symposium, ASME Winter Annual Meeting, Dallas, TX, Nov. 25-30, 1990 (1990)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: Consideration is given to control formulations for vibration suppression of an active structure in slewing motions, the use if distributed sensing in control of large flexible spacecraft, an improved shooting method for solving minimum-time maneuver problems, and nonlinear slew maneuver dynamics of large flexible spacecrafts. Attention is also given to initial experiments in trusterless locomotion control of a free-flying robot, dynamic analysis to evaluate viscoelastic passive damping augmentation for the Space Shuttle Remote Manipulator System, initial experiments in cooperative manipulation from a moving platform, and intelligent pipelined control architecture for remote robotic applications.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: ASME Winter Annual Meeting; Nov 25, 1990 - Nov 30, 1990; Dallas, TX; United States
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  • 9
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    Dynamics and control of multibody/robotic systems with space applications; Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, Dec. 10-15, 1989 (1989)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: The present conference on the dynamics and control methods of multibody robotic systems applicable to outer space applications first gives attention to such topics in multibody dynamics and control as the substructure synthesis approach to flexible multibody system control, an elastic finite-element kinematic analysis of a multirigid body, computational methods for high speed vehicles on flexible guideways, and multiarm coordination and control. Attention is then given to such issues in space manipulator dynamics and control methods as the global navigation of a free-flying space robot, dynamic singularities in the control of free-floating space manipulators, experimental results for compact space robot actuator control, and a 17-degree-of-freedom dexterous manipulator.
    Keywords: CYBERNETICS
    Type: ASME Winter Annual Meeting; Dec 10, 1989 - Dec 15, 1989; San Francisco, CA; United States
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  • 10
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    Global asymptotic stability of dynamic dissipative compensators for multibody flexible space structures (1993)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: The stability characteristics of dynamic dissipative compensators are investigated for multibody flexible space structures having nonlinear dynamics. The problem addressed is that of proving asymptotic stability of dynamic dissipative compensators. The stability proof uses the Liapunov approach and exploits the inherent passivity of such systems. For such systems these compensators are shown to be robust to parametric uncertainties and unmodeled dynamics. The results are applicable to a large class of structures such as flexible space structures with articulated flexible appendages.
    Keywords: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
    Type: ; 6 p.|American Control Conference; Jun 02, 1993 - Jun 04, 1993; San Francisco, CA; United States
    Format: text
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