Loading...
Please wait, while we are loading the content...
Control of a serpentine manipulator with collision avoidance
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Byers, Robert M. |
| Copyright Year | 1993 |
| Description | The robotics lab at the Kennedy Space Center is investigating the possibility of using a 'serpentine' manipulator for Shuttle inspection and payload processing. Serpentine manipulators are characterized by a large number of degrees of freedom giving them a high degree of redundancy. This redundancy allows them to be used to reach confined areas while avoiding collisions with their environment. In this paper, the author describes a new approach to controlling the joint rates for an n degree of freedom robot such that it moves its end effector to a desired position while simultaneously avoiding collision of any part of the robot arm with obstacles. Joint rates which move the end effector toward the target are found via a Lyapunov stability function. The gradient of an obstacle cost function indicates the direction toward obstacle collision in the joint space. The component of the end effector joint rates orthogonal to the obstacle gradient becomes the commanded joint rates. A notional eleven DOF model is used to numerically demonstrate the efficacy of the control law. |
| File Size | 685687 |
| Page Count | 20 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940018759 |
| Archival Resource Key | ark:/13960/t82k1bz4g |
| Language | English |
| Publisher Date | 1993-10-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Liapunov Functions Degrees of Freedom Robot Control Inverse Kinematics Space Shuttle Payloads Manipulators Robot Dynamics Robotics Robot Arms Control Stability End Effectors Control Theory Collision Avoidance Kinematic Equations Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
