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  • 1
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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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  • 2
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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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  • 3
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    Kalman-like estimation for static distributed systems Antenna shape from radiation measurements (1985)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: This paper advances an approach to the determination of shape of static distributed systems. It also illustrates the application of the approach to the problems of surface diagnosis of large parabolic reflectors. The estimation methods developed combine in an optimal sense the information from an elliptic model of the structure and from measurements of the structural deflection and of the far-field pattern changes due to the structural deformation. The estimators have a predictor-corrector structure, quite similar to that of a Kalman filter. The system model is first used to obtain a predicted estimate. A correction term is then added to the prediction to obtain the final state estimate. The relative weighting between prediction and correction terms is determined by an estimator gain. As in a Kalman filter, the estimator gain can be expressed in terms of the state estimation error covariance.
    Keywords: CYBERNETICS
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  • 4
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    Intelligent test integration system (1988)
    In:  CASI
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    Publication Date: 2013-08-29
    Description: A new test technology is described which was developed for space system integration. The ultimate purpose of the system is to support the automatic generation of test systems in real time, distributed computing environments. The Intelligent Test Integration System (ITIS) is a knowledge based layer above the traditional test system components which can generate complex test configurations from the specification of test scenarios.
    Keywords: CYBERNETICS
    Type: NASA, Marshall Space Flight Center, Second Conference on Artificial Intelligence for Space Applications; p 177-185
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  • 5
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    Kalman filtering, smoothing and recursive robot arm forward and inverse dynamics (1986)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: The inverse and forward dynamics problems for multi-link serial manipulators are solved by using recursive techniques from linear filtering and smoothing theory. The pivotal step is to cast the system dynamics and kinematics as a two-point boundary-value problem. Solution of this problem leads to filtering and smoothing techniques identical to the equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing. The solutions prescribe an inward filtering recursion to compute a sequence of constraint moments and forces followed by an outward recursion to determine a corresponding sequence of angular and linear accelerations. In addition to providing techniques to compute joint accelerations from applied joint moments (and vice versa), the report provides an approach to evaluate recursively the composite multi-link system inertia matrix and its inverse. The report lays the foundation for the potential use of filtering and smoothing techniques in robot inverse and forward dynamics and in robot control design.
    Keywords: CYBERNETICS
    Type: NASA-CR-180135 , JPL-PUB-86-48 , NAS 1.26:180135
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  • 6
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    Static shape control for flexible structures (1986)
    In:  Other Sources
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    Publication Date: 2019-06-28
    Description: An integrated methodology is described for defining static shape control laws for large flexible structures. The techniques include modeling, identifying and estimating the control laws of distributed systems characterized in terms of infinite dimensional state and parameter spaces. The models are expressed as interconnected elliptic partial differential equations governing a range of static loads, with the capability of analyzing electromagnetic fields around antenna systems. A second-order analysis is carried out for statistical errors, and model parameters are determined by maximizing an appropriate defined likelihood functional which adjusts the model to observational data. The parameter estimates are derived from the conditional mean of the observational data, resulting in a least squares superposition of shape functions obtained from the structural model.
    Keywords: CYBERNETICS
    Type: SAE PAPER 861822
    Format: text
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  • 7
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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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    Publication Date: 2019-06-28
    Description: 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.
    Keywords: CYBERNETICS
    Type: AIAA PAPER 87-2261
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  • 8
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    Proceedings of the Workshop on Space Telerobotics, volume 3 (1987)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: Planning and scheduling for robot applications, trajectory planning for manipulators, and manipulator control are discussed.
    Keywords: CYBERNETICS
    Type: NASA-CR-184687 , JPL-PUBL-87-13-VOL-3 , NAS 1.26:184687 , Jan 20, 1987 - Jan 22, 1987; Pasadena, CA; United States
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  • 9
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    Proceedings of the Workshop on Space Telerobotics, volume 2 (1987)
    In:  CASI
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    Publication Date: 2019-08-13
    Description: Research on sensing and perception, telerobots, man machine interface, scheduling, trajectory planning for manipulators, and manipulator control is discussed.
    Keywords: CYBERNETICS
    Type: NASA-CR-184686 , JPL-PUBL-87-13-VOL-2 , NAS 1.26:184686 , Jan 20, 1987 - Jan 22, 1987; Pasadena, CA; United States
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  • 10
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    Proceedings of the Workshop on Space Telerobotics, volume 1 (1987)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: 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.
    Keywords: CYBERNETICS
    Type: NASA-CR-184685 , JPL-PUBL-87-13-VOL-1 , NAS 1.26:184685 , Jan 20, 1987 - Jan 22, 1987; Pasadena, CA; United States
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