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Record 1 of 3277
Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly
Author and Affiliation:
Klein, C. A.(Ohio State University, Columbus, OH, United States)
Patterson, M. R.(Battelle Columbus Laboratories, Columbus, OH, United States)
Abstract: Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.
Publication Date: Dec 01, 1982
Document ID:
19830038732
(Acquired Nov 30, 1995)
Accession Number: 83A19950
Subject Category: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Document Type: Journal Article
Publisher Information: United States
Contract/Grant/Task Num: NSF ENG-78-18957; NAG1-30
Financial Sponsor: NASA; United States
Organization Source: Ohio State Univ.; Columbus, OH, United States
Battelle Columbus Labs.; OH, United States
Description: 7p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright
NASA Terms: MANIPULATORS; NUMERICAL CONTROL; ROBOTS; SPACE MANUFACTURING; ALGORITHMS; LARGE SPACE STRUCTURES; LIMBS (ANATOMY); LOCOMOTION; SPACE COMMERCIALIZATION
Imprint And Other Notes: IEEE Transactions on Systems, Man, and Cybernetics, vol. SMC-12, Nov.-Dec. 1982, p. 913-919.
Availability Source: Other Sources
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