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SENSOR BASED WHOLE-ARM OBSTACLE AVOIDANCE FOR REDUNDANT ROBOT ARM MANIPULATORS

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
16940
Program Year/Program:
1992 / SBIR
Agency Tracking Number:
16940
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Merritt Systems Inc.
435 Guss Hipp Blvd Rockledge, FL 32955
View profile »
Woman-Owned: Yes
Minority-Owned: No
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 1992
Title: SENSOR BASED WHOLE-ARM OBSTACLE AVOIDANCE FOR REDUNDANT ROBOT ARM MANIPULATORS
Agency: NASA
Contract: N/A
Award Amount: $500,000.00
 

Abstract:

THIS PROJECT ADDRESSES AN EXPERIMENTAL SYSTEM FOR INVESTIGATING ISSUES IN SENSOR-BASED OBSTACLE AVOIDANCE FOR REDUNDANT, DEGREE-OF-FREEDOM ROBOT ARM MANIPULATORS. THE EXPERIMENTAL SYSTEM CONSISTS OF A PLANAR, THREE DEGREE-OF-FREEDOM, REDUNDANT, ROBOT ARM MANIPULATOR. THE PERIMETER OF THE ROBOT ARM IS COVERED BY A LINEAR ARRAY OF PROXIMITY SENSORS. THE ASSEMBLED COMPUTER SYSTEM WILL ALLOW THE INCORPORATION OF ROBOTIC-MOTION PLANNING ALGORITHMS TO GUIDE THE ROBOT ARM AROUND ITS ENVIRONMENT WITHOUT COLLIDING INTO OBSTACLES. THIS PROJECT ADDRESSES AN EXPERIMENTAL SYSTEM FOR INVESTIGATING ISSUES IN SENSOR-BASED OBSTACLE AVOIDANCE FOR REDUNDANT, DEGREE-OF-FREEDOM ROBOT ARM MANIPULATORS. THE EXPERIMENTAL SYSTEM CONSISTS OF A PLANAR, THREE DEGREE-OF-FREEDOM, REDUNDANT, ROBOT ARM MANIPULATOR. THE PERIMETER OF THE ROBOT ARM IS COVERED BY A LINEAR ARRAY OF PROXIMITY SENSORS. THE ASSEMBLED COMPUTER SYSTEM WILL ALLOW THE INCORPORATION OF ROBOTIC-MOTION PLANNING ALGORITHMS TO GUIDE THE ROBOT ARM AROUND ITS ENVIRONMENT WITHOUT COLLIDING INTO OBSTACLES.

Principal Investigator:


0

Business Contact:

Small Business Information at Submission:

Merritt Systems Inc.
2120 Leeward Ln Merritt Island, FL 32953

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