NDLI: Robotic control of the seven-degree-of-freedom nasa laboratory telerobotic manipulator

Please wait, while we are loading the content...

Robotic control of the seven-degree-of-freedom nasa laboratory telerobotic manipulator

Content Provider	NASA Technical Reports Server (NTRS)
Author	Euler, J. A. Dubey, R. V. Herndon, J. N. Magness, R. B. Babcock, S. M.
Copyright Year	1989
Description	A computationally efficient robotic control scheme for the NASA Laboratory Telerobotic Manipulator (LTM) is presented. This scheme utilizes the redundancy of the seven-degree-of-freedom LTM to avoid joint limits and singularities. An analysis to determine singular configurations is presented. Performance criteria are determined based on the joint limits and singularity analysis. The control scheme is developed in the framework of resolved rate control using the gradient projection method, and it does not require the generalized inverse of the Jacobian. An efficient formulation for determining the joint velocities of the LTM is obtained. This control scheme is well suited for real-time implementation, which is essential if the end-effector trajectory is continuously modified based on sensory feedback. Implementation of this scheme on a Motorola 68020 VME bus-based controller of the LTM is in progress. Simulation results demonstrating the redundancy utilization in the robotic mode are presented.
File Size	636428
Page Count	14
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19900020554
Archival Resource Key	ark:/13960/t1zd2tk9j
Language	English
Publisher Date	1989-01-31
Access Restriction	Open
Subject Keyword	Man/system Technology And Life Support Controllers Teleoperators Robot Control Redundancy Control Systems Design Manipulators Robot Dynamics Real Time Operation Robot Arms Simulation Robot Sensors Kinematics Singularity Mathematics Mathematical Models End Effectors 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

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in