Using input shaping to minimize residual vibration in flexible space structures

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.Includes bibliographical references (p. 115-118).by Kristen Andrea Bohlke.M.S

Kinematics and Robot Design I, KaRD2018

This volume collects the papers published on the Special Issue “Kinematics and Robot Design I, KaRD2018” (https://www.mdpi.com/journal/robotics/special_issues/KARD), which is the first issue of the KaRD Special Issue series, hosted by the open access journal “MDPI Robotics”. The KaRD series aims at creating an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2018 received 22 papers and, after the peer-review process, accepted only 14 papers. The accepted papers cover some theoretical and many design/applicative aspects

Robot Manipulators

Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

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

Modeling And Control For Robotic Assistants: Single And Multi-Robot Manipulation

As advances are made in robotic hardware, the complexity of tasks they are capable of performing also increases. One goal of modern robotics is to introduce robotic platforms that require very little augmentation of their environments to be effective and robust. Therefore the challenge for a roboticist is to develop algorithms and control strategies that leverage knowledge of the task while retaining the ability to be adaptive, adjusting to perturbations in the environment and task assumptions. This work considers approaches to these challenges in the context of a wet-lab robotic assistant. The tasks considered are cooperative transport with limited communication between team members, and robot-assisted rapid experiment preparation requiring pouring reagents from open containers useful for research and development scientists. For cooperative transport, robots must be able to plan collision-free trajectories and agree on a final destination to minimize internal forces on the carried load. Robot teammates are considered, where robots must reach consensus to minimize internal forces. The case of a human leader, and robot follower is then considered, where robots must use non-verbal information to estimate the human leader\u27s intended pose for the carried load. For experiment preparation, the robot must pour precisely from open containers with known fluid in a single attempt. Two scenarios examined are when the geometries of the pouring and receiving containers and behaviors are known, and when the pourer must be approximated. An analytical solution is presented for a given geometry in the first instance. In the second instance, a combination of online system identification and leveraging of model priors is used to achieve the precision-pour in a single attempt with considerations for long-term robot deployment. The main contributions of this work are considerations and implementations for making robots capable of performing complex tasks with an emphasis on combining model-based and data-driven approaches for best performance

Technology for large space systems: A bibliography with indexes (supplement 22)

This bibliography lists 1077 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

Proceedings of the NASA Conference on Space Telerobotics, volume 5

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotics technology to the space systems planned for the 1990's and beyond. Volume 5 contains papers related to the following subject areas: robot arm modeling and control, special topics in telerobotics, telerobotic space operations, manipulator control, flight experiment concepts, manipulator coordination, issues in artificial intelligence systems, and research activities at the Johnson Space Center

Large space structures and systems in the space station era: A bibliography with indexes

Bibliographies and abstracts are listed for 1219 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1990 and December 31, 1990. The purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems

Space station systems: A bibliography with indexes (supplement 10)

This bibliography lists 1,422 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to researchers, designers and managers engaged in Space Station technology development and mission design. Coverage includes documents that define major systems and subsystems related to structures and dynamic control, electronics and power supplies, propulsion, and payload integration. In addition, orbital construction methods, servicing and support requirements, procedures and operations, and missions for the current and future Space Station are included