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Open Architecture Robot Controller and Software Library

Award Information
Agency: Department of Defense
Branch: Army
Contract: N/A
Agency Tracking Number: 28774
Amount: $599,941.00
Phase: Phase II
Program: SBIR
Solicitation Topic Code: N/A
Solicitation Number: N/A
Timeline
Solicitation Year: N/A
Award Year: 1996
Award Start Date (Proposal Award Date): N/A
Award End Date (Contract End Date): N/A
Small Business Information
P.o. Box 206
Amelia, OH 45102
United States
DUNS: N/A
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Paul H. Eismann
 (513) 831-9570
Business Contact
Phone: () -
Research Institution
N/A
Abstract

In its continuing efforts to automate complex ordnance resupply operations using robotic systems, the U.S. Army faces a number of demanding technical problems that represent the leading edge of robot control theory, including the development of flexible task-level programming environments, issues of robot mobility and base motion effects, multi-sensor integration, multi-arm coordination, compliance control, and robot calibration. Many of these specific problems have already been addressed by researchers working independently over the last six years at NASA laboratories, at NIST, and at academic institutions across the U.S. By far the majority of this new control technology has been accomplished using seven degree-of=freedom, force/position-controlled manipulators supplied by Robotics REsearch Corporation. This proposal outlines a project by which the Army can leverage this prior work by capturing the key elements of existing government-funded control software in a new open architecture, high-level robot control system. We will formalize new architecture interfaces, assemble a library of existing robot control software, and modify that software to conform to the new open architecure --allowing it to be mixed and matched, dynamically, to meet the specific needs of particular applications. By establishing appropriate software module interface standards, this software library will not be limited to use with RRC robots, but will operate any conforming robot system.

* Information listed above is at the time of submission. *

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