An inverse kinematics algorithm for a highly redundant variable-geometry-truss manipulator

A new class of robotic arm consists of a periodic sequence of truss substructures, each of which has several variable-length members. Such variable-geometry-truss manipulator (VGTMs) are inherently highly redundant and promise a significant increase in dexterity over conventional anthropomorphic manipulators. This dexterity may be exploited for both obstacle avoidance and controlled deployment in complex workspaces. The inverse kinematics problem for such unorthodox manipulators, however, becomes complex because of the large number of degrees of freedom, and conventional solutions to the inverse kinematics problem become inefficient because of the high degree of redundancy. A solution is presented to this problem based on a spline-like reference curve for the manipulator's shape. Such an approach has a number of advantages: (1) direct, intuitive manipulation of shape; (2) reduced calculation time; and (3) direct control over the effective degree of redundancy of the manipulator. Furthermore, although the algorithm was developed primarily for variable-geometry-truss manipulators, it is general enough for application to a number of manipulator designs

Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators

This paper presents a dual-resolution local sensor based planning method for hyper-redundant robot mechanisms. Two classes of sensor feedback control methods, working at different sampling rates and different spatial resolutions, are considered: full shape modification (FSM), and partial shape modification (PSM). FSM and PSM cooperate to utilize a mechanism's hyper-redundancy to enable both local obstacle avoidance and end-effector placement in real-time. These methods have been implemented on a thirty degree of freedom hyper-redundant manipulator which has 11 ultrasonic distance measurement sensors and 20 infrared proximity sensors. The implementation of these algorithms in a dual CPU real-time control computer, an innovative sensor bus architecture, and a novel graphical control interface are described. Experimental results obtained using this test bed show the efficacy of the proposed method

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty

Actuators for Intelligent Electric Vehicles

This book details the advanced actuators for IEVs and the control algorithm design. In the actuator design, the configuration four-wheel independent drive/steering electric vehicles is reviewed. An in-wheel two-speed AMT with selectable one-way clutch is designed for IEV. Considering uncertainties, the optimization design for the planetary gear train of IEV is conducted. An electric power steering system is designed for IEV. In addition, advanced control algorithms are proposed in favour of active safety improvement. A supervision mechanism is applied to the segment drift control of autonomous driving. Double super-resolution network is used to design the intelligent driving algorithm. Torque distribution control technology and four-wheel steering technology are utilized for path tracking and adaptive cruise control. To advance the control accuracy, advanced estimation algorithms are studied in this book. The tyre-road peak friction coefficient under full slip rate range is identified based on the normalized tyre model. The pressure of the electro-hydraulic brake system is estimated based on signal fusion. Besides, a multi-semantic driver behaviour recognition model of autonomous vehicles is designed using confidence fusion mechanism. Moreover, a mono-vision based lateral localization system of low-cost autonomous vehicles is proposed with deep learning curb detection. To sum up, the discussed advanced actuators, control and estimation algorithms are beneficial to the active safety improvement of IEVs

Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90)

The proceedings of the SOAR workshop are presented. The technical areas included are as follows: Automation and Robotics; Environmental Interactions; Human Factors; Intelligent Systems; and Life Sciences. NASA and Air Force programmatic overviews and panel sessions were also held in each technical area

The Fifth NASA/DOD Controls-Structures Interaction Technology Conference, part 1

This publication is a compilation of the papers presented at the Fifth NASA/DoD Controls-Structures Interaction (CSI) Technology Conference held in Lake Tahoe, Nevada, March 3-5, 1992. The conference, which was jointly sponsored by the NASA Office of Aeronautics and Space Technology and the Department of Defense, was organized by the NASA Langley Research Center. The purpose of this conference was to report to industry, academia, and government agencies on the current status of controls-structures interaction technology. The agenda covered ground testing, integrated design, analysis, flight experiments and concepts

Computer-Aided Geometry Modeling

Techniques in computer-aided geometry modeling and their application are addressed. Mathematical modeling, solid geometry models, management of geometric data, development of geometry standards, and interactive and graphic procedures are discussed. The applications include aeronautical and aerospace structures design, fluid flow modeling, and gas turbine design

The 1980 Large space systems technology. Volume 2: Base technology

Technology pertinent to large antenna systems, technology related to large space platform systems, and base technology applicable to both antenna and platform systems are discussed. Design studies, structural testing results, and theoretical applications are presented with accompanying validation data. A total systems approach including controls, platforms, and antennas is presented as a cohesive, programmatic plan for large space systems

Proceedings of the Fifth NASA/NSF/DOD Workshop on Aerospace Computational Control

The Fifth Annual Workshop on Aerospace Computational Control was one in a series of workshops sponsored by NASA, NSF, and the DOD. The purpose of these workshops is to address computational issues in the analysis, design, and testing of flexible multibody control systems for aerospace applications. The intention in holding these workshops is to bring together users, researchers, and developers of computational tools in aerospace systems (spacecraft, space robotics, aerospace transportation vehicles, etc.) for the purpose of exchanging ideas on the state of the art in computational tools and techniques

Large Space Antenna Systems Technology, 1984

Mission applications for large space antenna systems; large space antenna structural systems; materials and structures technology; structural dynamics and control technology, electromagnetics technology, large space antenna systems and the Space Station; and flight test and evaluation were examined