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Optimized resolved rate control of seven-degree-of-freedom Laboratory Telerobotic Manipulator (LTM) with application to three-dimensional graphics simulationThe Laboratory Telerobotic Manipulator (LTM) is a seven-degree-of-freedom robot arm. Two of the arms were delivered to Langley Research Center for ground-based research to assess the use of redundant degree-of-freedom robot arms in space operations. Resolved-rate control equations for the LTM are derived. The equations are based on a scheme developed at the Oak Ridge National Laboratory for computing optimized joint angle rates in real time. The optimized joint angle rates actually represent a trade-off, as the hand moves, between small rates (least-squares solution) and those rates which work toward satisfying a specified performance criterion of joint angles. In singularities where the optimization scheme cannot be applied, alternate control equations are devised. The equations developed were evaluated using a real-time computer simulation to control a 3-D graphics model of the LTM.
Document ID
19900001302
Acquisition Source
Legacy CDMS
Document Type
Technical Publication (TP)
Authors
Barker, L. Keith (NASA Langley Research Center Hampton, VA, United States)
Mckinney, William S., Jr. (NASA Langley Research Center Hampton, VA, United States)
Date Acquired
September 6, 2013
Publication Date
October 1, 1989
Subject Category
Cybernetics
Report/Patent Number
NASA-TP-2938
L-16562
NAS 1.60:2938
Accession Number
90N10618
Funding Number(s)
PROJECT: RTOP 549-02-41-01
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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