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Design and implementation of a compliant robot with force feedback and strategy planning softwareForce-feedback robotics techniques are being developed for automated precision assembly and servicing of NASA space flight equipment. Design and implementation of a prototype robot which provides compliance and monitors forces is in progress. Computer software to specify assembly steps and makes force feedback adjustments during assembly are coded and tested for three generically different precision mating problems. A model program demonstrates that a suitably autonomous robot can plan its own strategy.
Document ID
19860004478
Acquisition Source
Legacy CDMS
Document Type
Technical Memorandum (TM)
Authors
Premack, T. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Strempek, F. M. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Solis, L. A. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Brodd, S. S. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Cutler, E. P. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Purves, L. R. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
September 5, 2013
Publication Date
May 29, 1984
Subject Category
Cybernetics
Report/Patent Number
NASA-TM-86111
NAS 1.15:86111
Report Number: NASA-TM-86111
Report Number: NAS 1.15:86111
Accession Number
86N13947
Funding Number(s)
CONTRACT_GRANT: NAS5-28200
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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