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Dynamic evaluation of a traction-drive joint for space telerobots
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Hankins II, Walter W. Desilva, Clarence W. |
| Copyright Year | 1988 |
| Description | Presented is an analysis and evaluation of a prototype traction-drive joint for robotic manipulators, developed under NASA sponsorship. A dynamic model is developed using the Lagrange formulation. Controllability, observability, dynamic stability, and response characteristics of the joint to test inputs are studied. A linear quadratic regulator (LQR) is implemented on the joint model to determine a basis for evaluating the performance of the traction-drive joint under servo control. An evaluation of the results and directions for future investigations are presented. |
| File Size | 1592310 |
| Page Count | 36 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19890004635 |
| Archival Resource Key | ark:/13960/t4bp4zx60 |
| Language | English |
| Publisher Date | 1988-10-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Teleoperators Evaluation Stability Joints Junctions Servocontrol Manipulators Dynamic Models Controllability Traction Mechanical Drives Robotics Telerobotics 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 |
