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TELEROBOT COLLISION/OBSTACLE AVOIDANCE BASED ON REAL-TIME PROXIMITY SENSORS

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
6784
Program Year/Program:
1988 / SBIR
Agency Tracking Number:
6784
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
ROBOTICS RESEARCH CORP.
4480 Lake Forest Drive Suite 408 Cincinnati, OH 45242-5242
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1988
Title: TELEROBOT COLLISION/OBSTACLE AVOIDANCE BASED ON REAL-TIME PROXIMITY SENSORS
Agency: NASA
Contract: N/A
Award Amount: $49,778.00
 

Abstract:

A CRITICAL SUBTECHNOLOGY REQUIRED FOR FUTURE SPACE TELEROBOTS IS A PRACTICAL, SENSOR-BASED REAL TIME OBSTACLE AVOIDANCE SYSTEM CAPABLE OF PREVENTING UNPLANNED COLLISIONS BETWEEN TELEROBOT APPENDAGES AND OBJECTS IN THE MACHINE'S WORKING ENVELOPE. SHARED-CONTROL TECHNIQUES AND FLY-THE-HAND TELEOPERATION TECHNIQUES USED TO CONTROL SUCH DEXTEROUS, KINEMATICALLY-REDUNDANT TELEROBOTS SPECIFY 6 DOF TOOLPOINT COMMANDS, BUT DO NOT DETERMINE MANIPULATOR "POSE", E.G., ELBOW ORIENTATION IN A 7 DOF ARM. THE PROPOSED RESEARCH AND DEVELOPMENT PROJECT AIMS TO PROVE THE CONCEPT OF USING ARM-MOUNTED PROXIMITY SENSORS AND NEW MOTION CONTROL ALGORITHMS TO CONTROL THE POSE OF A KINEMATICALLY-REDUNDANT MANIPULATOR IN SUCH A WAY THAT THE ARM STEERS ITSELF AROUND OBJECTS ENCOUNTERED IN THE WORKSPACE WHILE THE OPERATOR "FLIES THE HAND". ROBOTICS RESEARCH'S ESTABLISHED MECHANISM AND CONTROL TECHNOLOGY IN KINEMATICALLY-REDUNDANT MANIPULATORS SERVES AS A UNIQUELY APPROPRIATE BASIS FOR THIS DEVELOPMENT. MOTION CONTROL ALGORITHMS WILL BE DEMONSTRATED WHICH ARE CAPABLE OF SIMULTANEOUS SINGULARITY/OBSTACLE AVOIDANCE. THIS PROGRAM INCLUDES SENSOR SELECTION AND APPLICATION, ALGORITHM, SOFTWARE AND SYSTEM DEMONSTRATION.

Principal Investigator:

Jack m thompson jr

Business Contact:

Small Business Information at Submission:

Robotics Research Corp
2000b Ford Cir Milford, OH 45150

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