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Computer coordination of limb motion for locomotion of a multiple-armed robot for space assemblyConsideration 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.
Document ID
19830038732
Document Type
Reprint (Version printed in journal)
Authors
Klein, C. A. (Ohio State University Columbus, OH, United States)
Patterson, M. R. (Battelle Columbus Laboratories Columbus, OH, United States)
Date Acquired
August 11, 2013
Publication Date
December 1, 1982
Subject Category
MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
Funding Number(s)
CONTRACT_GRANT: NAG1-30
CONTRACT_GRANT: NSF ENG-78-18957
Distribution Limits
Public
Copyright
Other