Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller

Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator 2

The forward position and velocity kinematics for the redundant eight-degree-of-freedom Advanced Research Manipulator 2 (ARM2) are presented. Inverse position and velocity kinematic solutions are also presented. The approach in this paper is to specify two of the unknowns and solve for the remaining six unknowns. Two unknowns can be specified with two restrictions. First, the elbow joint angle and rate cannot be specified because they are known from the end-effector position and velocity. Second, one unknown must be specified from the four-jointed wrist, and the second from joints that translate the wrist, elbow joint excluded. There are eight solutions to the inverse position problem. The inverse velocity solution is unique, assuming the Jacobian matrix is not singular. A discussion of singularities is based on specifying two joint rates and analyzing the reduced Jacobian matrix. When this matrix is singular, the generalized inverse may be used as an alternate solution. Computer simulations were developed to verify the equations. Examples demonstrate agreement between forward and inverse solutions

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics

Automation and Robotics for Space-Based Systems, 1991

The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots

Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool

Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities

Follow-the-Leader Control for the PIPS Prototype Hardware

This report describes the payload inspection and processing system (PIPS), an automated system programmed off-line for inspection of space shuttle payloads after integration and prior to launch. PIPS features a hyper-redundant 18-degree of freedom (DOF) serpentine truss manipulator capable of snake like motions to avoid obstacles. During the summer of 1995, the author worked on the same project, developing a follow-the-leader (FTL) algorithm in graphical simulation which ensures whole arm collision avoidance by forcing ensuing links to follow the same tip trajectory. The summer 1996 work was to control the prototype PIPS hardware in follow-the-leader mode. The project was successful in providing FTL control in hardware. The STS-82 payload mockup was used in the laboratory to demonstrate serpentine motions to avoid obstacles in a realistic environment

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used

Follow-the-leader algorithm for the payload inspection and processing system

This report summarizes the author's summer 1995 work at NASA Kennedy Space Center in the Advanced System Division. The assignment was path planning for the Payload Inspection and Processing System (PIPS). PIPS is an automated system, programmed off-line for inspection of Space Shuttle payloads after integration and prior to launch. PIPS features a hyper-redundant 18-dof serpentine truss manipulator capable of snake-like motions to avoid obstacles. The path planning problem was divided into two segments: (1) determining an obstacle-free trajectory for the inspection camera at the manipulator tip to follow; and (2) development of a follow-the-leader (FTL) algorithm which ensures whole-arm collision avoidance by forcing ensuing links to follow the same tip trajectory. The summer 1995 work focused on the FTL algorithm. This report summarizes development, implementation, testing, and graphical demonstration of the FTL algorithm for prototype PIPS hardware. The method and code was developed in a modular manner so the final PIPS hardware may use them with minimal changes. The FTL algorithm was implemented using MATLAB software and demonstrated with a high-fidelity IGRIP model. The author also supported implementation of the algorithm in C++ for hardware control. The FTL algorithm proved to be successful and robust in graphical simulation. The author intends to return to the project in summer 1996 to implement path planning for PIPS

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES