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Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix AA generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.
Document ID
19870002101
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Haley, D. C.
(Martin Marietta Corp. Denver, CO, United States)
Almand, B. J.
(Martin Marietta Corp. Denver, CO, United States)
Thomas, M. M.
(Martin Marietta Corp. Denver, CO, United States)
Krauze, L. D.
(Martin Marietta Corp. Denver, CO, United States)
Gremban, K. D.
(Martin Marietta Corp. Denver, CO, United States)
Sanborn, J. C.
(Martin Marietta Corp. Denver, CO, United States)
Kelly, J. H.
(Martin Marietta Corp. Denver, CO, United States)
Depkovich, T. M.
(Martin Marietta Corp. Denver, CO, United States)
Date Acquired
September 5, 2013
Publication Date
September 1, 1984
Subject Category
Cybernetics
Report/Patent Number
NASA-CR-172402
NAS 1.26:172402
MCR-84-549-APP-A
Accession Number
87N11534
Funding Number(s)
CONTRACT_GRANT: NAS1-16759
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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