Control laws (in some optimal sense) are being developed for the gripper/nut runner end effector. Control laws for the gripper and nut runner portions of the end effector may be developed independently since these two systems are decoupled. A hybrid force/position controller will be used for both the gripper and nut runner. The development of the gripper controller is explained. Sensory data available to the controller is obtained from an array of strain gages as well as a linear potentiometer. Applying well known optimal control theoretic principles, the control which minimizes the transition time between positions is obtained. In addition, a robust force control scheme is developed to contend with the strain gage drift caused by extreme temperature variations encountered in space.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Real Time Control for NASA (National Aeronautics and Space Administration) Robotic Gripper


    Contributors:
    C. A. Salter (author) / J. S. Baras (author)

    Publication date :

    1989


    Size :

    16 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





    Real time control for NASA robotic gripper

    Salter, Carole A. / Baras, John S. | NTRS | 1989


    Real Time Control for NASA Robotic Gripper

    C. A. Salter / J. S. Baras | NTIS | 1990


    Real time control for NASA robotic gripper

    Salter, Carole A. / Baras, John S. | NTRS | 1990