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Preshaping command inputs to reduce telerobotic system oscillations
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Singer, Neil C. Seering, Warren P. |
| Copyright Year | 1989 |
| Description | The results of using a new technique for shaping inputs to a model of the space shuttle Remote Manipulator System (RMS) are presented. The shapes inputs move the system to the same location that was originally commanded, however, the oscillations of the machine are considerably reduced. An overview of the new shaping method is presented. A description of RMS model is provided. The problem of slow joint servo rates on the RMS is accommodated with an extension of the shaping method. The results and sample data are also presented for both joint and three-dimensional cartesian motions. The results demonstrate that the new shaping method performs well on large, telerobotic systems which exhibit significant structural vibration. The new method is shown to also result in considerable energy savings during operations of the RMS manipulator. |
| File Size | 778084 |
| Page Count | 11 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900020564 |
| Archival Resource Key | ark:/13960/t3vt6jm51 |
| Language | English |
| Publisher Date | 1989-01-31 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Dynamic Control Teleoperators Structural Vibration Space Shuttles Remote Manipulator System Three Dimensional Motion Dynamic Models Servomechanisms Telerobotics 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 |
