NDLI: Optimized resolved rate control of seven-degree-of-freedom laboratory telerobotic manipulator (ltm) with application to three-dimensional graphics simulation

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Optimized resolved rate control of seven-degree-of-freedom laboratory telerobotic manipulator (ltm) with application to three-dimensional graphics simulation

Content Provider	NASA Technical Reports Server (NTRS)
Author	McKinney Jr., William S. Barker, L. Keith
Copyright Year	1989
Description	The Laboratory Telerobotic Manipulator (LTM) is a seven-degree-of-freedom robot arm. Two of the arms were delivered to Langley Research Center for ground-based research to assess the use of redundant degree-of-freedom robot arms in space operations. Resolved-rate control equations for the LTM are derived. The equations are based on a scheme developed at the Oak Ridge National Laboratory for computing optimized joint angle rates in real time. The optimized joint angle rates actually represent a trade-off, as the hand moves, between small rates (least-squares solution) and those rates which work toward satisfying a specified performance criterion of joint angles. In singularities where the optimization scheme cannot be applied, alternate control equations are devised. The equations developed were evaluated using a real-time computer simulation to control a 3-D graphics model of the LTM.
File Size	3399336
Page Count	82
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19900001302
Archival Resource Key	ark:/13960/t28963n7b
Language	English
Publisher Date	1989-10-01
Access Restriction	Open
Subject Keyword	Cybernetics Degrees of Freedom Joints Junctions Robot Control Least Squares Method Optimal Control Manipulators Singularity Mathematics Applications Programs Computers Computerized Simulation Robotics Telerobotics Real Time Operation 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

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