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Control strategy for cooperating disparate manipulatorsTo manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator.
Document ID
19900017012
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Lew, Jae Young (Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1989
Subject Category
Mechanical Engineering
Report/Patent Number
NAS 1.26:186809
NASA-CR-186809
Accession Number
90N26328
Funding Number(s)
CONTRACT_GRANT: NAG1-623
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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