Accession Number:

ADA156856

Title:

Supervisory Control of the Right Arm of the Beam Assembly Teleoperator.

Descriptive Note:

Final rept.,

Corporate Author:

ARMY MILITARY PERSONNEL CENTER ALEXANDRIA VA

Personal Author(s):

Report Date:

1985-05-10

Pagination or Media Count:

173.0

Abstract:

This thesis develops a method of supervisory control of the five-degree-of-freedom dexterous right arm of the Beam Assembly Teleoperator BAT. The thesis imposes a constraint that the end effector of the right arm or manipulator must move in a straight line. The joint angles are used to transform the position of the end effector into cylindrical coordinates. With the initial and final position known, an equation for a straight line is obtained and the cylindrical coordinates of the end effector for each point on the straight line are found. The cylindrical coordinates are then transformed back into joint angles for each point and the joint angles are used to control the BATs right arm. The method of moving the end effector in a straight line is implemented in two ways. The first implementation uses an unknown starting position and moves to a known finish point. Here the previously developed BAT software is used to input the starting position of the arm. Then the straight line path method uses this starting point and drives the arm to the known finish point. In the second implementation, a method is developed in which a set of points is remembered by the BAT and the straight line path method is used to drive the arm from any start point, through all the stored points and return to the original point. Further extensions using this method are discussed.

Subject Categories:

  • Machinery and Tools

Distribution Statement:

APPROVED FOR PUBLIC RELEASE