Jul 1, 1993 · A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors.

2 THE STEWART-PLATFORM BASED ROBOTIC WRIST Figure 1 presents a robot manipulator of the Intelligent Robotic Laboratory (IR.L) at the God-dard Space Flight Center (NASA), which consists of a 6 DOF Cincinnati T3 robot and a 6 D0F Stewart Platform-based robotic wrist mounted to the last link of the T3 robot. The manipulator

This report deals with adaptive control of a Stewart Platform-based Manipulator (SPBM) which is an integral part of a facility called the Itardware Real-Time Emulator (HRTE) recently developed at Goddard Space Flight Center (GSFC) to study and emulate space operations.

Recently a robotic wrist possessing 6 DOFs was designed and built at the Goddard Space Flight Center (NASA) based on the mechanism of the Stewart Platform to serve as a testbed for studying high-precision robotic operations in space. This paper presents the development and

This article presents the implementation of a joint-space adaptive control scheme used to control noncompliant motion of a Stewart platform-based manipulator (SPBM) that is used in a facility called the Hardware Real-Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations.

NASA’s astronomy mission to extend the work of the highly successful HST. . he mission is now in an early study phase and a year 2007 launch is planned. A NGST Project Office2 is located at the Goddard Space Flight .

Jun 1, 2018 · A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center.

A Stewart platform-based manipulator was designed and built at the Goddard Space Flight Center (GSFC) [13] to serve as a testbed for evaluating the feasibility of au- tonomous assembly of parts in space.

Jan 1, 1992 · In this paper, a dynamic model for a class of Stewart platform (six degrees of freedom parallel link robotic manipulators) is derived by using tensor representation. A set of six Lagrange's equations are obtained.

Apr 11, 1991 · The authors present solutions for the forward and inverse kinematics of a 6-DOF Stewart Platform-based robot manipulator and develop a trajectory planning scheme for tracking the robot manipulator straight-line motion.