Description |
1 online resource (24 pages) : illustrations. |
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text txt rdacontent |
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computer c rdamedia |
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online resource cr rdacarrier |
Series |
NASA technical memorandum ; 107330 |
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Army Research Laboratory technical report ; ARL-TR-1101
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NASA technical memorandum ; 107330.
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ARL-TR (Aberdeen Proving Ground, Md.) ; 1101.
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Note |
Title from title screen (viewed Aug. 2, 2016). |
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"October, 1996." |
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"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.
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Control systems.
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Robots.
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Manipulators.
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Joints.
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Paths.
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Orientation(direction)
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Rates.
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Saturation.
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Degrees of freedom.
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Freezing.
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Limitations.
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Planning.
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Barriers.
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Adaptive systems.
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Actuators.
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Compensation.
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Avoidance.
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Trajectories.
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Manipulators.
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Robotics.
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Optimal control.
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Aadaptive control.
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End effectors.
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Cybernetics.
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Indexed Term |
PE61102A |
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ASH45 |
Genre/Form |
Online resources.
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Electronic books.
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Electronic government information.
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Added Author |
Hickman, Andre, author.
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Guo, Ten-Huei, author.
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Lewis Research Center, issuing body.
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U.S. Army Research Laboratory, sponsoring body.
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United States. National Aeronautics and Space Administration, sponsoring body.
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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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