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  • 1
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    Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics (1987)
    In:  Other Sources
    Details
    Publikationsdatum: 2011-08-19
    Beschreibung: 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.
    Schlagwort(e): CYBERNETICS
    Materialart: IEEE Journal of Robotics and Automation (ISSN 0882-4967); RA-3; 624-639
    Format: text
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  • 2
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    Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing (1987)
    In:  Other Sources
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    Publikationsdatum: 2019-06-28
    Beschreibung: This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.
    Schlagwort(e): CYBERNETICS
    Materialart: AIAA PAPER 87-2261
    Format: text
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  • 3
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    Proceedings of the Workshop on Space Telerobotics, volume 3 (1987)
    In:  CASI
    Details
    Publikationsdatum: 2019-08-13
    Beschreibung: Planning and scheduling for robot applications, trajectory planning for manipulators, and manipulator control are discussed.
    Schlagwort(e): CYBERNETICS
    Materialart: NASA-CR-184687 , JPL-PUBL-87-13-VOL-3 , NAS 1.26:184687 , Jan 20, 1987 - Jan 22, 1987; Pasadena, CA; United States
    Format: application/pdf
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  • 4
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    Proceedings of the Workshop on Space Telerobotics, volume 2 (1987)
    In:  CASI
    Details
    Publikationsdatum: 2019-08-13
    Beschreibung: Research on sensing and perception, telerobots, man machine interface, scheduling, trajectory planning for manipulators, and manipulator control is discussed.
    Schlagwort(e): CYBERNETICS
    Materialart: NASA-CR-184686 , JPL-PUBL-87-13-VOL-2 , NAS 1.26:184686 , Jan 20, 1987 - Jan 22, 1987; Pasadena, CA; United States
    Format: application/pdf
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  • 5
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    Proceedings of the Workshop on Space Telerobotics, volume 1 (1987)
    In:  CASI
    Details
    Publikationsdatum: 2019-08-13
    Beschreibung: These proceedings report the results of a workshop on space telerobotics, which was held at the Jet Propulsion Laboratory, January 20-22, 1987. Sponsored by the NASA Office of Aeronautics and Space Technology (OAST), the Workshop reflected NASA's interest in developing new telerobotics technology for automating the space systems planned for the 1990s and beyond. The workshop provided a window into NASA telerobotics research, allowing leading researchers in telerobotics to exchange ideas on manipulation, control, system architectures, artificial intelligence, and machine sensing. One of the objectives was to identify important unsolved problems of current interest. The workshop consisted of surveys, tutorials, and contributed papers of both theoretical and practical interest. Several sessions were held on the themes of sensing and perception, control execution, operator interface, planning and reasoning, and system architecture.
    Schlagwort(e): CYBERNETICS
    Materialart: NASA-CR-184685 , JPL-PUBL-87-13-VOL-1 , NAS 1.26:184685 , Jan 20, 1987 - Jan 22, 1987; Pasadena, CA; United States
    Format: application/pdf
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