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EXPLORATORY DEVELOPMENT OF SHIP MOTIONS EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT…

Award Information

Agency:
Department of Defense
Branch:
Navy
Award ID:
5578
Program Year/Program:
1987 / SBIR
Agency Tracking Number:
5578
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Automated Analysis Corp.
2805 South Industrial Hwy Suite 100 Ann Arbor, MI 00000
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1987
Title: EXPLORATORY DEVELOPMENT OF SHIP MOTIONS EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT LIFE
Agency / Branch: DOD / NAVY
Contract: N/A
Award Amount: $48,038.00
 

Abstract:

THE INTENTION IS TO INVESTIGATE THE SHIP MOTION EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT LIFE. THE ON-BOARD ROBOT IS EQUIVALENT TO A STATIONARY ROBOT WITH BASE EXCITATION DUE TO SHIP MOTION. THE EXCITA-TION AT THE ROBOT BASE WILL BE MONITORED EITHER BY PLACING GYROSCOPES AND ACCELEROMETERS AT THAT POSITION, OR BY ASSUMING THE SHIP IS A RIGID BODY AND PLACING GYROSCOPES AND ACCELEROMETERS ON THE SHIP ONLY.THE BASE EXCITATION VALUES ARE USED IN DERIVING THE ROBOT DYNAMIC MODEL USING THE LAGRANGE-EULER APPROACH. THE DYNAMIC PROJECTION FUNCTIONS WILL BE FUNCTIONS OF THE PITCH, ROLL AND YAW OF THE VESSEL AT SEA. A MODEL REFERENCE ADAPTIVE CONTROL SYSTEM WILL BE DEVELOPED TO CONTROL THE ROBOT MANIPULTOR UNDER UNCERTAINTIES. A SEAKEEPING PROGRAM WILL BE USED TO DETERMINE THE FREQUENCIES AND IMPOSING FORCES ON THE ROBOT SYSTEM.

Principal Investigator:

Joe juan
3136656300

Business Contact:

Small Business Information at Submission:

Automated Analysis Corp
2001 Commonwealth - Ste 204 Ann Arbor, MI 48105

EIN/Tax ID:
DUNS: N/A
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No