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Simulation study of the romps robot control system
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Nguyen, Charles C. Liu, HUI-I |
| Copyright Year | 1994 |
| Description | This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed. |
| File Size | 3049732 |
| Page Count | 82 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19950003590 |
| Archival Resource Key | ark:/13960/t9x111f51 |
| Language | English |
| Publisher Date | 1994-08-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Controllers Robot Control Space Processing End Effectors Computerized Simulation Elastic Properties Robot Dynamics Impact Loads Position Errors Contact Loads Robotics Robots 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 |
