+ Visit NASA.gov + Contact NASA   + Home Collection > NASA  Author > Eismann, Paul H.  Author > Farrell, James D.  Author > Karlen, James P.  Author > Thompson, Jack M., Jr.  Author > Vold, Havard I.  NASA Center > NASA (non Center Specific)  Publication Year > 1981-1990 > 1989  Subject > M-O > Man/system Technology And Life Support  Availability Options > Online > PDF  Item/Media Type > Conference Paper  Note: Start a new navigation search by selecting a link above     Previous Record | Next Record + Back to Results   + Printer Friendly Title: A 17 degree of freedom anthropomorphic manipulator Author(s): Vold, Havard I.; Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Eismann, Paul H. Abstract: A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints. NASA Center: NASA (non Center Specific) Publication Date: Jan 31, 1989 Document Source: CASI Online Source: View PDF File Document ID: 19900019685 Accession ID: 90N29001 Publication Information: JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 1, p 19-28, Number of Pages = 10 Price Code: A02 Keywords: COLLISION AVOIDANCE; DEGREES OF FREEDOM; HIERARCHIES; MANIPULATORS; REAL TIME OPERATION; ROBOTICS; ROBOTS; VISCOUS DAMPING; ACTUATORS; IMPEDANCE; LINKAGES; MECHANICAL DRIVES; SERVOMECHANISMS; TELEROBOTICS; TORQUE; Notes: In JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 1 p 19-28 (SEE N90-29000 23-54) Accessibility: Unclassified; No Copyright; Unlimited; Publicly available; Updated/Added to NTRS: 2008-05-31 + Back to Top + Sponsored by the NASA Scientific and Technical    Information Program + 2004 Vision for Space Exploration + Freedom of Information Act + NASA Web Privacy Policy and Important Notices + NASA Disclaimers, Copyright Notice,    and Terms and Conditions of Use NASA Official: Calvin Mackey Page Curator: NASA Center for AeroSpace Information (help@sti.nasa.gov) Last Updated: July 5, 2007