NASA Technical Papers

R.L. Williams II, Local Performance Optimization for a Class of Redundant Eight-Degree-of-Freedom Manipulators, NASA Technical Paper 3417, NASA Langley Research Center, Hampton, VA, March, 1994.

R.L. Williams II, Kinematic Modeling of a Double Octahedral Variable Geometry Truss (VGT) as an Extensible Gimbal, NASA Technical Memorandum 109127, NASA Langley Research Center, Hampton, VA, May 1994.

R.C. Montgomery, R.L. Williams II, J.T. Dorsey, M.A. Scott, J. Juang, P. Troutman, C.S. Buttrill, D.D. Moerder, Space Robotics: Recent Accomplishments and Opportunities for Future Research, NASA Technical Memorandum 107675, NASA Langley Research Center, Hampton, VA, September 1992.

R.L. Williams II, Kinematic Equations for Control of the Redundant Eight-Degree-of-Freedom Advanced Research Manipulator II, NASA Technical Memorandum 4377, NASA Langley Research Center, Hampton, VA, July 1992.

R. Tutterow, J. Buckley, R. Fox, J.M. Seaton, and R.L. Williams II, Minimum Accommodation for Aerobrake Assembly Phase II Final Report: Thermal Protection System Attachment Concepts for a Lunar Transfer Vehicle Aerobrake, NASA Technical Memorandum 107612, NASA Langley Research Center, Hampton, VA, June 1992.

R.L. Williams II, Kinematics of an In-Parallel Actuated Manipulator Based on the Stewart Platform Mechanism, NASA Technical Memorandum 107585, NASA Langley Research Center, Hampton, VA, March 1992.

R.L. Williams II, The Double Universal Joint Wrist on a Manipulator: Solution of Inverse Position Kinematics and Singularity Analysis, NASA Technical Memorandum 104212, NASA Langley Research Center, Hampton, VA, March 1992.

R.L. Williams II, Kinematics of the Six-Degree-of-Freedom Force-Reflecting Kraft Master, NASA Technical Memorandum 104124, NASA Langley Research Center, Hampton, VA, July 1991.