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

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$48,038.00
Award Year:
1987
Program:
SBIR
Phase:
Phase I
Contract:
n/a
Award Id:
5578
Agency Tracking Number:
5578
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
2001 Commonwealth - Ste 204, Ann Arbor, MI, 48105
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
JOE JUAN
(313) 665-6300
Business Contact:
() -
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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