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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Intelligent Robotic Systems Study (Irss), Phase 4

Intelligent Robotic Systems Study (Irss), Phase 4

Nasa, National Aeronautics and Space Adm

Paperback

Astronomy & Space

Currently unavailable to order

ISBN10: 1729361617
ISBN13: 9781729361610
Publisher: Independently Published
Published: Oct 28 2018
Pages: 58
Weight: 0.35
Height: 0.12 Width: 8.50 Depth: 11.02
Language: English
Under the Intelligent Robotics Systems Study (IRSS), a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). Based upon the NASREM system design concept, the controller built for the PFMA provides localized position based force control, teleoperation, and advanced path recording and playback capabilities. The PFMA has six computer controllable degrees of freedom (DOF) plus a 7th manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Joints on the PFMA are driven via 7 pulse width modulated amplifiers. Digital control of the PFMA is implemented using a variety of single board computers. There were two major activities under the IRSS phase 4 study: (1) enhancement of the PFMA control system software functionality; and (2) evaluation of operating modes via a teleoperation performance study. These activities are described and results are given. Unspecified Center...

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