COORDINATED CONTROL OF MULTIPLE MANIPULATOR ARMS

Award Information
Agency:
National Aeronautics and Space Administration
Amount:
$125,000.00
Program:
SBIR
Contract:
N/A
Solitcitation Year:
N/A
Solicitation Number:
N/A
Branch:
N/A
Award Year:
1987
Phase:
Phase II
Agency Tracking Number:
2812
Solicitation Topic Code:
N/A
Small Business Information
Odetics Inc.
1515 S Manchester Ave, Anaheim, CA, 92802
Hubzone Owned:
N
Woman Owned:
N
Socially and Economically Disadvantaged:
N
Duns:
N/A
Principal Investigator
 Stephen J Bartholet
 Principal Investigator
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
THIS STUDY WILL DEVELOP A DUAL MANIPULATOR ARM SYSTEM FOR THE COORDINATED MOVEMENT OF A COMMON PAYLOAD USING INNOVATIVE TECHNIQUES APPLIED RECENTLY BY THE OFFEROR TO ODEX, A MULTI-LEGGED WALKING ROBOT. THE PROPOSED SYSTEM WILL OPERATE TWO SIX-DEGREE-OF-FREEDOM MANIPULATOR ARMS WITH PATH PLANNING IN A FASHION THAT ALLOWSBOTH ARMS TO PRODUCE A COORDINATED ACTION ON A COMMON PAYLOAD UNDER THE CONTROL OF AN OPERATOR USING JOYSTICK CONTROL. THE PHASE I ACTIVITIES WILL INCLUDE ACQUISITION OF SUITABLE LOW COST MANIPULATOR ARMS AND CONTROLLERS; THE MODIFICATION OF THE ARMS FOR SIX-DEGREE-OF-FREEDOM OPERATION; THE INTERFACING OF THE ARMS AND CONTROLLERS WITH AN IBM PC; THE DEVELOPMENT, PROGRAMMING, AND CHECKOUT OF THE REQUIRED ALGORITHMS; AND THE DEMONSTRATION OF THE SYSTEM USING SUITABLE PAYLOADS. UPON COMPLETION OF PHASE I, ODETICS WILL RECOMMEND A PHASE II PROGRAM THAT APPLIES THE PHASE I TECHNIQUES TO MORE CAPABLE EQUIPMENT AND CONTINUES THE DEVELOPMENT OF COORDINATED ARM CONTROL TO MORE SOPHISTICATED TAKS, SENSORS AND CONTROL MODES.

* information listed above is at the time of submission.

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