EXPLORATORY DEVELOPMENT OF SHIP MOTIONS EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT LIFE

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N/A
Agency Tracking Number: 5578
Amount: $48,038.00
Phase: Phase I
Program: SBIR
Awards Year: 1987
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
2001 Commonwealth - Ste 204, Ann Arbor, MI, 48105
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 JOE JUAN
 (313) 665-6300
Business Contact
Phone: () -
Research Institution
N/A
Abstract
THE INTENTION IS TO INVESTIGATE THE SHIP MOTION EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT LIFE. THE ON-BOARD ROBOT IS EQUIVALENT TO A STATIONARY ROBOT WITH BASE EXCITATION DUE TO SHIP MOTION. THE EXCITA-TION AT THE ROBOT BASE WILL BE MONITORED EITHER BY PLACING GYROSCOPES AND ACCELEROMETERS AT THAT POSITION, OR BY ASSUMING THE SHIP IS A RIGID BODY AND PLACING GYROSCOPES AND ACCELEROMETERS ON THE SHIP ONLY.THE BASE EXCITATION VALUES ARE USED IN DERIVING THE ROBOT DYNAMIC MODEL USING THE LAGRANGE-EULER APPROACH. THE DYNAMIC PROJECTION FUNCTIONS WILL BE FUNCTIONS OF THE PITCH, ROLL AND YAW OF THE VESSEL AT SEA. A MODEL REFERENCE ADAPTIVE CONTROL SYSTEM WILL BE DEVELOPED TO CONTROL THE ROBOT MANIPULTOR UNDER UNCERTAINTIES. A SEAKEEPING PROGRAM WILL BE USED TO DETERMINE THE FREQUENCIES AND IMPOSING FORCES ON THE ROBOT SYSTEM.

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

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