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Test and validation for robot arm control dynamics simulation
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Sundaram, Kamala Schnurr, Richard Haug, Edward J. Thompson, Bruce Seering, Warren Chun, Hon Kim, Sung-Soo Yae, K. Harold Frisch, Harold P. Turner Sr., James |
| Copyright Year | 1989 |
| Description | The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms. |
| File Size | 485119 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900020510 |
| Archival Resource Key | ark:/13960/t85j2f47c |
| Language | English |
| Publisher Date | 1989-01-31 |
| Access Restriction | Open |
| Subject Keyword | Man/system Technology And Life Support Controllers Teleoperators Control Simulation Degrees of Freedom Trajectory Control Robot Control Robotics Space Stations Real Time Operation Robot Arms Algorithms Autonomy Computer Systems Programs Telerobotics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
