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Monday, August 3, 2020 | History

3 edition of Base reaction optimization of redundant manipulators for space applications found in the catalog.

Base reaction optimization of redundant manipulators for space applications

Ching Luan Chung

Base reaction optimization of redundant manipulators for space applications

by Ching Luan Chung

  • 228 Want to read
  • 14 Currently reading

Published by Dept. of Mechanical Engineering, Robotics Institute, Carnegie Mellon University in Pittsburgh, Pa .
Written in English

    Subjects:
  • Robotics.,
  • Space stations -- Maintenance and repair.

  • Edition Notes

    StatementC.L. Chung, S. Desa and C.W. de Silva.
    SeriesNASA-CR -- 186274., Technical report, NASA contractor report -- NASA CR-186274., Technical report (University of Houston--Clear Lake. Research Institute for Computing and Information Systems)
    ContributionsDesa, S., De Silva, Clarence W., United States. National Aeronautics and Space Administration.
    The Physical Object
    FormatMicroform
    Pagination1 v.
    ID Numbers
    Open LibraryOL15282003M

    A new algorithm for a minimum infinity-norm solution and its application to trajectory planning of kinematically redundant manipulators. IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. NoTH), Neural network self-learning optimization PID control algorithm is put forward for free-floating space robot with flexible manipulators. Firstly, dynamics model of space flexible robot is established, then, neural network with good learning ability is used to approach non-linear system. Optimization algorithm of network weights is designed to speed up the learning speed and the adjustment.

    Panames-Garcia et al. proposed a general formulation for the optimization of the path placement of redundant manipulators considering single or multiple objective optimizations. Redundancy and path planning can be merged also with heuristic searches, such as by using genetic algorithms [ 1, 28, 31 ] and neural networks [ 4 ]. However, no manipulation task is actually performed by the robot, and no obstacles are present while the robot is moving. In ref. [18], MPC is actually used for controlling a mobile manipulator, presenting experimental results of real-time application on a platform composed of a mobile base and of a three degrees of freedom (DoF) manipulator.

      This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a . Reaction Null Space of a multibody system with applications in robotics and reaction torque con-trol of redundant space robots (Cocuzza et al., ), im-pacts with a humanoid robot (Konno et al., ), opti-mal motion planning for space robots with base disturbance base manipulator for ensuring full dynamic decoupling of the.


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Base reaction optimization of redundant manipulators for space applications by Ching Luan Chung Download PDF EPUB FB2

Base Reaction Optimization of Redundant Manipulators for Space Applications C.L. Chung, S. Desa, and C.W. deSilva One of the problems associated with redundant manipulators which have been proposed for space applications isthat the reactions transmitted to the base ol the manipulator as a result of the motion of the For a redundant.

Get this from a library. Base reaction optimization of redundant manipulators for space applications. [C L Chung; Subhas Desa; Clarence W De Silva; United States. National Aeronautics and Space Administration.].

BibTeX @MISC{Chung88basereaction, author = {C. Chung and S. Desa and C. Desilva}, title = {Base Reaction Optimization of Redundant Manipulators for Space Applications}, year = {}}. Base Reaction Optimization of Redundant Manipulators for Space Applications C.L.

Chung, S. Desa, and C.W. desilva CMU-RI-TR Department of Mechanical Engineering The Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania September 0.

Abstract. One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space Author: S.

Desa, C. Desilva and C. Chung. A trajectory generation method for space manipulators is introduced. The approach developed employs a manipulator with redundant kinematics. The method is implemented in two steps. First, the end-effector trajectory is developed to satisfy motion requirements.

Next, the joint trajectories are developed to minimize base reactions. Motion planning for redundant free-floating space robot with local optimization of reaction torque and joint torque simultaneously Conference Paper (PDF Available) December with 31 Reads.

A space manipulator, as illustrated in Fig. 1, consists of a base spacecraft and an n-degree-of-freedom (DOF) the case where such a manipulator should rendezvous with a servicing target, proper controllers are to be designed for the spacecraft and the arm joints to a) lead the arm's end-effector pose, i.e., end-effector point position and end-effector orientation, from an initial state.

Dynamic optimization of redundant manipulators in worst case using recurrent neural networks. ≤ x ̈ i0 i=1,2,m where D q is the work space of the manipulator, is considered as a measure of the dynamic merit of a redundant manipulator which represents the maximum value of relative joint driving torques.

U1 Abstract An important consideration in the use of manipulators in Microgravity environments is rhe minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it pe~orms its approach which has been proposed and implemented is to use the redundant degrees of freedom in a kinematically redundanr.

Conditions under which a cyclic task motion results in a cyclic joint motion are also discussed; this is a major issue, e.g., for industrial applications in which a redundant manipulator is used to execute a repetitive task.

The special class of hyperredundant manipulators is analyzed in detail. Robotic manipulators used in space applications are expected to operate under microgravity conditions.

Base reactions of a space manipulator are directly exerted on the supporting space. In this thesis a research activity is presented, concerning matters of dynamics and control of robot manipulators for space robotics applications.

In particular, kinematic control principles suitable for the realization of trajectory-tracking manoeuvres are considered for manipulators in the kinematic redundancy condition, that is typically available on actual space robotic systems. Base Reaction Optimization of Redundant Manipulators for Space Application.

Camegie Mel-lon University,, P. 1 - Cited by. A technique, called the enhanced disturbance map, for planning space manipulator motions that will result in relatively low spacecraft disturbance is presented.

Although a spacecraft's attitude control reaction jet can compensate for the dynamic disturbances imposed on the spacecraft by the manipulator's motions, reaction jet fuel is a limited resource. The path planning of free-floating manipulators is of great interest in space operations.

The manipulators in the free-floating mode exhibit nonholonomic characteristics due to the nonintegrability of the angular momentum, which makes the problem complicated. This paper analyzes the path planning of redundant, free-floating space manipulators with revolute joints and 7 degrees.

Null Space Optimization for Effective Coverage of 3D Surfaces using Redundant Manipulators Jurgen Hess Gian Diego Tipaldi Wolfram Burgard¨ Abstract In this paper we consider the problem of null space minimization in coverage path planning of 3D surfaces for redundant manipulators.

This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice.

All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. iii Abstract e An important consideration in the use of manipulators in Microgravity environments is the minimization of the base reactions, i.e.

the magnitude of the force and the moment exerted by the manipulator on its base as it peflonns its approach which has been proposed and implemented is to use the redundant degrees of freedom in a kinematically redundant.

This paper proposes a method for optimizing rectilinear tasks on a 3 degrees-of-freedom (DoF) modular serial metamorphic manipulator. The overall experimental process was designed. 3. The reaction null space of an FSMS Reactionless manipulator motion In this subsection we shall introduce a special case of manipulator motion that conserves the coupling momentum: LDconst.

Proposition 1 (zero reaction). The manipulator does not induce any reactions to the base if and only if the coupling momentum is conserved (LDconst.Liu et al. analyze the path planning of redundant, free-floating space manipulators with revolute joints, and 7 degrees of freedom.

They provide a tractable planning method to avoid the pseudo-inverse of the Jacobian matrix. Nenchev summarizes results based on the application of Reaction Null-Space approach.

Via the null-space and pseudo.These forces and moments are included in an objective function and their reduction is achieved by using genetic algorithms to calculate the balance weight and the associated eccentricity for each link for which the base reaction is minimized.

This genetic design technique is illustrated by application to a planar RR manipulator.