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Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloadsThe flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.
Document ID
19930009589
Acquisition Source
Legacy CDMS
Document Type
Preprint (Draft being sent to journal)
Authors
Book, Wayne J.
(Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
December 15, 1992
Subject Category
Mechanical Engineering
Report/Patent Number
NASA-CR-191895
NAS 1.26:191895
E25-517
Accession Number
93N18778
Funding Number(s)
CONTRACT_GRANT: NAG1-623
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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