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Development of advanced control schemes for telerobot manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Nguyen, Charles C. Zhou, Zhen-Lei |
| Copyright Year | 1991 |
| Description | To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed. |
| File Size | 1302453 |
| Page Count | 33 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19910008089 |
| Archival Resource Key | ark:/13960/t1jh8g387 |
| Language | English |
| Publisher Date | 1991-02-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Controllers Degrees of Freedom Manipulators Computerized Simulation Adaptive Control Real Time Operation Equivalence Quaternions Kinematics End Effectors Telerobotics Robots Technology Utilization 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 | Technical Report |
