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Digital redesign of the control system for the Robotics Research Corporation model K-1607 robotThe analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.
Document ID
19910016616
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Carroll, Robert L.
(George Washington Univ. Washington, DC, United States)
Date Acquired
September 6, 2013
Publication Date
September 1, 1989
Publication Information
Publication: Maryland Univ., The 1989 NASA-ASEE Summer Faculty Fellowship Program in Aeronautics and Research
Subject Category
Mechanical Engineering
Accession Number
91N25930
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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