SENSOR BASED WHOLE-ARM OBSTACLE AVOIDANCE FOR REDUNDANT ROBOT ARM MANIPULATORS

Award Information
Agency:
National Aeronautics and Space Administration
Branch:
N/A
Amount:
$500,000.00
Award Year:
1992
Program:
SBIR
Phase:
Phase II
Contract:
N/A
Agency Tracking Number:
16940
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Merritt Systems Inc.
2120 Leeward Ln, Merritt Island, FL, 32953
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
N/A
Principal Investigator
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
THIS PROJECT ADDRESSES AN EXPERIMENTAL SYSTEM FOR INVESTIGATING ISSUES IN SENSOR-BASED OBSTACLE AVOIDANCE FOR REDUNDANT, DEGREE-OF-FREEDOM ROBOT ARM MANIPULATORS. THE EXPERIMENTAL SYSTEM CONSISTS OF A PLANAR, THREE DEGREE-OF-FREEDOM, REDUNDANT, ROBOT ARM MANIPULATOR. THE PERIMETER OF THE ROBOT ARM IS COVERED BY A LINEAR ARRAY OF PROXIMITY SENSORS. THE ASSEMBLED COMPUTER SYSTEM WILL ALLOW THE INCORPORATION OF ROBOTIC-MOTION PLANNING ALGORITHMS TO GUIDE THE ROBOT ARM AROUND ITS ENVIRONMENT WITHOUT COLLIDING INTO OBSTACLES. THIS PROJECT ADDRESSES AN EXPERIMENTAL SYSTEM FOR INVESTIGATING ISSUES IN SENSOR-BASED OBSTACLE AVOIDANCE FOR REDUNDANT, DEGREE-OF-FREEDOM ROBOT ARM MANIPULATORS. THE EXPERIMENTAL SYSTEM CONSISTS OF A PLANAR, THREE DEGREE-OF-FREEDOM, REDUNDANT, ROBOT ARM MANIPULATOR. THE PERIMETER OF THE ROBOT ARM IS COVERED BY A LINEAR ARRAY OF PROXIMITY SENSORS. THE ASSEMBLED COMPUTER SYSTEM WILL ALLOW THE INCORPORATION OF ROBOTIC-MOTION PLANNING ALGORITHMS TO GUIDE THE ROBOT ARM AROUND ITS ENVIRONMENT WITHOUT COLLIDING INTO OBSTACLES.

* information listed above is at the time of submission.

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