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KINEMATICALLY REDUNDANT ROBOT MANIPULATORS

Award Information

Agency:
Department of Defense
Branch:
Air Force
Award ID:
239
Program Year/Program:
1984 / SBIR
Agency Tracking Number:
239
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Scientific Systems Company, Inc
500 West Cummings Park - Ste 3000 Woburn, MA -
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 1984
Title: KINEMATICALLY REDUNDANT ROBOT MANIPULATORS
Agency / Branch: DOD / USAF
Contract: N/A
Award Amount: $305,000.00
 

Abstract:

BECAUSE NONMINIMALLY ARTICULATED (OR KINEMATICALLY REDUNDANT) ROBOT MANIPULATORS HAVE EXTRA DEGREES OF FREEDOM WITH WHICH TO MOVE AND ORIENT END EFFECTORS IN THE WORKSPACE, THEY OFFER A NUMBER OF ADVANTAGES OVER CURRENTLY AVAILABLE DESIGNS. FROM THE VIEWPOINT OF PROGRAMMING AND CONTROL, HOWEVER, THERE ARE POTENTIAL PROBLEMS DUE TO THE INCREASED COMPLEXITY OF THE KINEMATICS AND DYNAMICS. A SIX MONTH RESEARCH EFFORT IS PROPOSED TO COMPARE THE ADVANTAGES AND LIABILITIES OF NONMINIMALLY ARTICULATED MANIPULATORS, AND TO LAY THE GROUNDWORK FOR FUTURE DEVELOPMENT OF DESIGN TOOLS AND CONTROL SOFTWARE FOR THESE DEVICES.

Principal Investigator:

Business Contact:

Dr. john baillieul
6176616364
Small Business Information at Submission:

Scientific Systems Inc.
54 Rindge Avenue Extension Cambridge, MA 02140

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