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Trajectory control of robot manipulators with closed-kinematic chain mechanism
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Pooran, Farhad J. Nguyen, Charles C. Premack, Timothy |
| Copyright Year | 1987 |
| Description | The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots. |
| File Size | 366457 |
| Page Count | 5 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19880004223 |
| Archival Resource Key | ark:/13960/t9x110c47 |
| Language | English |
| Publisher Date | 1987-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Robustness Mathematics Performance Tests Robot Control Kinematics Signal Processing Manipulators Chains Trajectories Computerized Simulation Control Theory Robots Cartesian Coordinates Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
