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REDUNDANT TELEOPERATOR AND ROBOTIC MANIPULATORS

Award Information

Agency:
Department of Energy 		Branch:
N/A 		Award ID:
3482 		Program Year/Program:
1986 / SBIR
Agency Tracking Number:
3482 		Solicitation Year:
N/A 		Solicitation Topic Code:
N/A 		Solicitation Number:
N/A
Small Business Information
Telerobotics International,
7325 Oak Ridge Highway Knoxville, TN 37931
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1986
Title: REDUNDANT TELEOPERATOR AND ROBOTIC MANIPULATORS
Agency: DOE
Contract: N/A
Award Amount: $49,850.00
 

Abstract:

THE RECENTLY DEVELOPED NOVIX COMPUTER USES THE LANGUAGE FORTH AS ITS NATIVE ASSEMBLY CODE THEREBY OFFERING THE FLEXIBILITY OF HIGH LEVEL LANGUAGE PROGRAMMING WITH ASSEMBLYLANGUAGE EXECUTION SPEED. THE RESULT IS A HARDWARE/SOFTWAREPERFORMANCE COMBINATION THAT CAN ONLY BE SURPASSED BY COMPLEX AND EXPENSIVE PARALLEL PROCESSING SYSTEMS. THE PRIMARY OBJECTIVE OF THE PROPOSED WORK IS TO RESEARCH AND DEVELOP A NOVIX-BASED CONTROL SYSTEM FOR AN ELECTROMECHANICAL SERVOMANIPULATOR. THE GOAL IS TO PROVIDE A CONTROL SYSTEM WHICH ALLOWS THE MANIPULATOR TO FUNCTION EITHER AS A TELEOPERATED SYSTEM FOR NON-REPETITIVE OPERATIONS, OR AS A ROBOT FOR REPETITIVE TASKS-A TELEROBOTICCONTROLLER. USING THE CONTROL SYSTEM DEVELOPED, ALGORITHMS WHICH OPTIMIZE THE CONTROL OF KINEMATICALLY REDUNDNAT MANIPULATORS WILL BE EXPLORED. REDUNDANT MANIPULATOR KINEMATICS ALLOW LOCAL OBSTACLE AVOIDANCE IN CLUTTERED ENVIRONMENTS COMMON TO POWER PLANTS AND POSE A CHALLENGING CONTROL PROBLEM. THIS EFFORT WILL DEVELOP A MANIPULATOR CONTROL SYSTEM WHICH IS COMPACT, VERSATILE, AND ECONOMICAL ALLOWING FUTURE APPLICATION OF MANIPULATION SYSTEMS TO POWERPLANT MAINTENANCE OPERATIONS. THE CONTROL SYSTEM DEVELOPED WOULD HAVE APPLICATION TO BOTH COMMERCIALLY AVAILABLE MANIPULATOR SYSTEMS AND TO THE REDUNDANT MANIPULATOR MECHANISM WHICH WILL ALSO BE DEVELOPED DURING THIS EFFORT. FUTURE ELECTROMECHANICAL HARDWARE WOULD BE DESIGNED TO UTILIZE THIS CONTROL SYSTEM AND TO MEET MAINTENANCE NEEDS OF SPECIFIC DOE FACILITIES.

Principal Investigator:

Paul e satterlee jr.
PRINCIPAL INVESTIGATOR
6156901320

Business Contact:

Small Business Information at Submission:

Telerobotics International
8410 Oak Ridge Highway Knoxville, TN 37931

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