Software Design for Automated Assembly of Truss StructuresLangley Research Center, 1992 - 47 pages |
From inside the book
Results 1-3 of 10
Page 3
... collision - avoidance algorithm is described in detail in the section " Motion - Base and Collision - Avoidance Design . " Robot - Arm Paths The robot arm traverses a predetermined 3.
... collision - avoidance algorithm is described in detail in the section " Motion - Base and Collision - Avoidance Design . " Robot - Arm Paths The robot arm traverses a predetermined 3.
Page 10
... collision- avoidance algorithm is executed to determine the or- der of sequential moves that will prevent collisions with the structure . A new axis move is initiated only after the previous move is complete . The supervisor may ...
... collision- avoidance algorithm is executed to determine the or- der of sequential moves that will prevent collisions with the structure . A new axis move is initiated only after the previous move is complete . The supervisor may ...
Page 35
... Strut end point Tray handles Tray Carriage Robot Ristrut estrut X Turntable y Tray_AP Tray Working - tray canister x - axis reference line Figure 15. Descriptive diagram of collision avoidance . Case 1 Robs Bobs Rstart ↓ Ꮎ Case 2 start ...
... Strut end point Tray handles Tray Carriage Robot Ristrut estrut X Turntable y Tray_AP Tray Working - tray canister x - axis reference line Figure 15. Descriptive diagram of collision avoidance . Case 1 Robs Bobs Rstart ↓ Ꮎ Case 2 start ...
Common terms and phrases
actuator aerobrake algorithm allows the supervisor AP_CAN arm Update data automated assembly system automated system automated-assembly Balance FTS canister approach point cantilevered struts capture Check Close collision-avoidance command file component commands connect strut current command current state Move current strut end effector error menu error-recovery execution expert system FETCH And connect FINGER Update data grasp adapters hardware Help hierarchical implementation interface Johnson Space Center Langley Research Center Latch Lock nut Menu item microprocessor minicomputer mode monitor motion base Move robot arm NASA NASREM node receptacles Open(L option pause performed platform predetermined Quit receptacle finger status RECEPTACLE FINGER Update REMOVE robot arm Update selection sensor software architecture software design Space Station Freedom storage approach point storage canister STORAGE_AP strut holders strut installation strut paths STRUT POSITION strut radius Strut Status task Telerobot tion TRAY_AP TRAY_STATUS TRAY_STATUS.Tray_State truss structure turntable Verify receptacle finger x-axis y-axis move