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Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Huang, Paul C. Bunnell, Charles T. Hennessey, Michael P. |
| Copyright Year | 1989 |
| Description | An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control. |
| File Size | 759284 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900020561 |
| Archival Resource Key | ark:/13960/t91886g5j |
| Language | English |
| Publisher Date | 1989-01-31 |
| Access Restriction | Open |
| Subject Keyword | Computer Programming And Software Controllers Dynamic Control Robot Arms Algorithms Robot Control Inverse Kinematics Kinematics Manipulators Stiffness Computerized Simulation Robot Dynamics 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 | Article |
