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Author Litt, Jonathan, author.

Title A new technique for compensating joint limits in a robot manipulator / Jonathan Litt, Andre Hickman, Ten-Huei Guo.

Publication Info. Cleveland, Ohio : National Aeronautics and Space Administration, Lewis Research Center : U.S. Army Research Laboratory, October, 1996.

Copies

Location Call No. OPAC Message Status
 Axe Federal Documents Online  NAS 1.15:107330    ---  Available
Description 1 online resource (24 pages) : illustrations.
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
Series NASA technical memorandum ; 107330
Army Research Laboratory technical report ; ARL-TR-1101
NASA technical memorandum ; 107330.
ARL-TR (Aberdeen Proving Ground, Md.) ; 1101.
Note Title from title screen (viewed Aug. 2, 2016).
"October, 1996."
"Performing organization: NASA Lewis Research Center and Vehicle Propulsion Directorate, U.S. Army Research Laboratory"--Report documentation page.
Bibliography Includes bibliographical references (page 11).
Summary A new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory.
Funding Sponsored by the National Aeronautics and Space Administration and U.S. Army Research Laboratory WU-505-62-50 1L161102AH45 E-10451
Subject Algorithms.
Control systems.
Robots.
Manipulators.
Joints.
Paths.
Orientation(direction)
Rates.
Saturation.
Degrees of freedom.
Freezing.
Limitations.
Planning.
Barriers.
Adaptive systems.
Actuators.
Compensation.
Avoidance.
Trajectories.
Manipulators.
Robotics.
Optimal control.
Aadaptive control.
End effectors.
Cybernetics.
Indexed Term PE61102A
ASH45
Genre/Form Online resources.
Electronic books.
Electronic government information.
Added Author Hickman, Andre, author.
Guo, Ten-Huei, author.
Lewis Research Center, issuing body.
U.S. Army Research Laboratory, sponsoring body.
United States. National Aeronautics and Space Administration, sponsoring body.
Other Form: Microfiche version: Litt, Jonathan S. New technique for compensating joint limits in a robot manipulator (OCoLC)39722313
Standard No. DTICE ADA316960
Gpo Item No. 0830-H-15 (online)
Sudoc No. NAS 1.15:107330

 
    
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