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PROTOTYPE OF A ROBOT CALIBRATION SYSTEM DEVELOPMENT

Award Information

Agency:
Department of Defense
Branch:
Navy
Award ID:
3900
Program Year/Program:
1987 / SBIR
Agency Tracking Number:
3900
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Fastman, Inc.
1613 Capitol Of Tx Hwy, South Suite 222 Austin, TX 78746
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 1987
Title: PROTOTYPE OF A ROBOT CALIBRATION SYSTEM DEVELOPMENT
Agency / Branch: DOD / NAVY
Contract: N/A
Award Amount: $500,000.00
 

Abstract:

FASTMAN, INC. IS REQUESTING A PHASE I GRANT TO FUND PART OF THE DEVE LOPMENT COSTS OF A ROBOT CALIBRATION SYSTEM DESIGNED TO IMPROVE THE ACCURACY AND LONG-TERM REPEATABILITY OF ROBOTS. OUR SYSTEM WILL IMPROVE THE PERFORMANCE OF ONLINE AND OFFLINE PROGRAMMED ROBOTS WHICH ARE USED IN THE GUIDANCE MANUFACTURING PROCESS. THE SYSTEM IS BASED ON A MODELING AND CONTROL TECHNIQUE WHICH IMPROVES THE ACCURACY OF THE ROBOT'S TRAJECTORY AT ITS END POSITION AND ORIENTATION (POSE). A CORRECTION ALFORITHM IS USED TO GENERATE JOINT CORRECTIONS WHICH, WHEN ADDED TO THE NOMINAL JOINT SOLUTIONS DETERMINED BY THE ROBOT'S CONTROLLER, MAKE THE ACHIEVED POSE EQUAL TO THAT DESIRED. THE CORRECTION ALGORITHM REQUIRES THAT A MODEL OF THE ACTUAL ROBOT LINKAGE BE DETERMINED. OUR SYSTEM DETERMINES THAT MODEL USING A SERIES OF ACCURATE POSE MEASUREMENTS AND A CALIBRATION ALGORITHM DEVELOPED BY THE OWNERS OF FASTMAN. THE POSE MEASUREMENTS ARE MADE USING AN INEXPENSIVE POSE SENSOR, ALSO DEVELOPED BY THE OWNERS OF FASTMAN. THE CALIBRATION SYSTEM ALLOWS POSES GENERATED BY TASK PROGRAMS, INCLUDING THOSE GENERATED ONLINE OR OFFLINE, TO BE STORED AS QUALIFIED POSES. THE USE OF QUALIFIED POSES MAKE THESE PROGRAMS INDEPENDENT OF THE ROBOT'S PERFORMANCE AND THE PARTICULAR ROBOT OR ROBOT TYPE USED TO PREFORM THE TASK.

Principal Investigator:

Michael Tucker
2158654446

Business Contact:

Small Business Information at Submission:

Fastman Inc.
Ben Franklin Tech Ctr Hrl Bldg Bethlehem, PA 18015

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