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TECHNOLOGY DEVELOPMENT FOR A LARGE-SCALE, SPACE-BASED, COMPLIANT MANIPULATOR

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
5158
Program Year/Program:
1987 / SBIR
Agency Tracking Number:
5158
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Adaptive Machine Technologies
1224 Kinnear Rd Suite 130 Columbus, OH 43212
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 1987
Title: TECHNOLOGY DEVELOPMENT FOR A LARGE-SCALE, SPACE-BASED, COMPLIANT MANIPULATOR
Agency: NASA
Contract: N/A
Award Amount: $49,891.00
 

Abstract:

THE PERFORMANCE OF LARGE-SCALE, LIGHTWEIGHT, SPACE-BASED MANIPULATORS IS CURRENTLY LIMITED BY THE AVAILABLE CONTROL SYSTEM TECHNOLOGIES. TO ACHIEVE HIGH PERFORMANCE WITH A SPACE-BASED MANIPULATOR, A CONTROL SYSTEM IS REQUIRED WHICH DOES NOT UNDERGO PERFORMANCE DEGRADATION DUE TO MANIPULATOR LINK FLEXURE. RESEARCH AND DEVELOPMENT IN THE AREA OF COMPLIANT MANIPULATOR CONTROL HAS BEEN HINDERED BY TWO PROBLEMS: 1) LACK OF AN EFFECTIVE MEANS OF ACCURATELY MEASURING END-EFFECTOR POSITION, AND 2) INABILITY TO SOLVE THE INVERSEDYNAMIC EQUATIONS IN REAL-TIME. THE OBJECTIVE OF PHASE I IS TO DEVELOP THE BASIC TECHNOLOGY NECESSARY FOR THE DEVELOPMENT OF A LARGE-SCALE, SPACE-BASED,COMPLIANT MANIPULATOR USING ENDPOINT FEEDBACK SYSTEM, A CONTROL LAW USING INVERSE DYNAMICS, AND THE DESIGN OF A HIGHPERFORMANCE, SINGLE BOARD COMPUTER FOR REAL-TIME IMPLEMENTATION OF INVERSE DYNAMICS.

Principal Investigator:


0

Business Contact:

Eric Ribble
Investigator
Small Business Information at Submission:

Adaptive Machine Technologies
1224 Kinnear Rd Suite 130 Columbus, OH 43212

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