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FEEDBACK CONTROL OF INDUSTRIAL ROBOT MANIPULATORS

Award Information

Agency:
National Science Foundation
Branch:
N/A
Award ID:
2619
Program Year/Program:
1985 / SBIR
Agency Tracking Number:
2619
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Computer Sonics Inc
3741 Sausalito Ave Irvine, CA 92714
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1985
Title: FEEDBACK CONTROL OF INDUSTRIAL ROBOT MANIPULATORS
Agency: NSF
Contract: N/A
Award Amount: $39,000.00
 

Abstract:

THE PRESENT BISTATIC OPTICAL STEREOSCOPIC SYSTEMS USING TRIANGULATION APPROACH HAVE ONE SERIOUS DRAWBACK: AT SHORT DISTANCES BOTH SENSORS MAY NOT NECESSARILY BE EXPOSED TO THESAME REGIONS OF A COMPLEX OBJECT. A SINGLE ULTRASONIC SENSOR IS SUFFICIENT TO MEASURE DISTANCES TO AN OBJECT. ADVANTAGES OF ULTRASONIC SENSOR ARE ITS LOW COST AND HIGH PRECISION OF SHORT RANGE MEASUREMENTS. EFFECTIVE USE OF ULTRASONIC SENSOR SYSTEMS WILL ALLOW INEXPENSIVE ROBOTS TO HANDLE IMPRECISELY POSITIONED PARTS, WELD, INSPECT, AND PERFORM FACTORY ASSEMBLY TASKS. WE PROPOSE TO BUILD AN ARRAY OF ULTRASONIC TRANSDUCERS, MOUNT IT ON THE WRIST OF A ROBOT, AND INTEGRATE IT WITH THE MANIPULATOR. THE ACOUSTIC BEAMS WILL BE ELECTRONICALLY STEERED AND FOCUSED. THE ELECTRONIC BEAM FOCUSING WILL IMPROVE THE ANGULAR RESOLUTION. A PARALLEL PROCESSING ARCHITECTURE IS PROPOSED TO PROCESS THE THREE-DIMENSIONAL IMAGES. COMPUTER INTEGRATION BETWEEN THE SENSOR ACQUIRED DATA AND THE MANIPULATOR JOINTS CONTROL INCLUDES MOTION-PATHPLANNING BLOCK AND COORDINATE TRANSFORMATION BLOCK. THIS UNIQUE TECHNICAL APPROACH ALLOWS THE SENSOR AND THE MANIPULATOR TO CARRY OUT EXTREMELY DEXTEROUS WORK WHICH DEMANDS PRECISE POSITION AND MOTION PATH CONTROL OF THE ROBOT HAND AND/OR ROBOT HAND-HELD TOOLS WITH RESPECT TO WORKPLECE.

Principal Investigator:

Dr young h chey
PRESIDENT
7145466787

Business Contact:

Small Business Information at Submission:

Computer Sonics Inc
3741 Sausalito Ave Irvine, CA 92714

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