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Task Based Hybrid Adaptive Controller for Robotic Systems

Award Information
Agency: Department of Defense
Branch: Army
Contract: N/A
Agency Tracking Number: 37085
Amount: $97,533.00
Phase: Phase I
Program: SBIR
Solicitation Topic Code: N/A
Solicitation Number: N/A
Timeline
Solicitation Year: N/A
Award Year: 1997
Award Start Date (Proposal Award Date): N/A
Award End Date (Contract End Date): N/A
Small Business Information
2640 S. Raritan Cir
Englewood, CO 80110
United States
DUNS: N/A
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Dr. Hemand M. Sardar
 (303) 922-7773
Business Contact
Phone: () -
Research Institution
N/A
Abstract

This Small Business Innovation Research Phase I program will develop a novel hybrid adaptive controller for intelligent control of mobile robotic arms. This technique will couple adaptive position control techniques with force control of the end-effector to enable mobile robotic arms to carry out complex tasks requiring close interaction with the environment. A candidate hybrid adaptive control scheme is designed which has dual adaptive mechanisms, one for the position control subsystem, and another for the force control subsystem. The presence of an adaptation mechanism for both the position and the force loop will allow the robot to handle a range of tasks in semi-structured and unstructured environments. Analytical and simulation studies are carried out to evaluate the stability, robustness, and performance of the proposed scheme. The feasibility of the proposed control strategy will be evaluated for possible experimental prototype development and commercialization during Phase II. Commercially, there are a lot potential opportunities for growth for high-end robotic systems capable of performing complex tasks for a range of applications which require a degree of dexterity and accuracy not currently available in mobile robotic systems. These applications include remote-controlled bomb-handling, clean-up of contaminated environments, handling of hazardous materials, and remote servicing of spacecraft.

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

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