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Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and EThe derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links interconnected by rotary joints are derived. A technique is outlined for reducing the system of equations to eliminate contraint torques. The linearized dynamics equations for an n link manipulator system are derived. The general n link linearized equations are then applied to a two link configuration. The coordinated rate control algorithm used to compute individual joint rates when given end effector rates is described. A short discussion of simulation methodologies is presented.
Document ID
19820026255
Document Type
Contractor Report (CR)
Authors
Lowrie, J. W. (Martin Marietta Aerospace Denver, CO, United States)
Fermelia, A. J. (Martin Marietta Aerospace Denver, CO, United States)
Haley, D. C. (Martin Marietta Aerospace Denver, CO, United States)
Gremban, K. D. (Martin Marietta Aerospace Denver, CO, United States)
Vanbaalen, J. (Martin Marietta Aerospace Denver, CO, United States)
Walsh, R. W. (Martin Marietta Aerospace Denver, CO, United States)
Date Acquired
September 4, 2013
Publication Date
September 1, 1982
Subject Category
CYBERNETICS
Report/Patent Number
MCR-82-581-VOL-2-PT-2-APP-B
NASA-CR-165977
MCR-82-581-VOL-2-PT-2-APP-C
NAS 1.26:165977
MCR-82-581-VOL-2-PT-2-APP-D
MCR-82-581-VOL-2-PT-2-APP-E
Funding Number(s)
CONTRACT_GRANT: NAS1-16759
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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