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  • 1
    Publication Date: 2019-06-28
    Description: An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183445 , NAS 1.26:183445
    Format: application/pdf
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  • 2
    Publication Date: 2019-07-13
    Description: The Advanced Helicopter Electromagnetics (AHE) Industrial Associates Program has fruitfully completed its fourth year. Under the support of the AHE members and the joint effort of the research team, new and significant progress has been achieved in the year. Following the recommendations by the Advisory Task Force, the research effort is placed on more practical helicopter electromagnetic problems, such as HF antennas, composite materials, and antenna efficiencies. In this annual report, the main topics to be addressed include composite materials and antenna technology. The research work on each topic has been driven by the AHE consortium members' interests and needs. The remarkable achievements and progresses in each subject is reported respectively in individual sections of the report. The work in the area of composite materials includes: modeling of low conductivity composite materials by using Green's function approach; guidelines for composite material modeling by using the Green's function approach in the NEC code; development of 3-D volume mesh generator for modeling thick and volumetric dielectrics by using FD-TD method; modeling antenna elements mounted on a composite Comanche tail stabilizer; and antenna pattern control and efficiency estimate for a horn antenna loaded with composite dielectric materials.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-195111 , NAS 1.26:195111 , TRC-EM-CAB-9401
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  • 3
    Publication Date: 2019-07-13
    Description: Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.
    Keywords: MECHANICAL ENGINEERING
    Type: NASA-CR-183477 , NAS 1.26:183477 , ISRAM 1990 Third International Symposium on Robotics and Manufacturing; Jul 18, 1990 - Jul 20, 1990; Vancouver, British Columbia; Canada
    Format: application/pdf
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