COORDINATED CONTROL OF MULTIPLE MANIPULATOR ARMS

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$125,000.00
Award Year:
1987
Program:
SBIR
Phase:
Phase II
Contract:
n/a
Award Id:
2812
Agency Tracking Number:
2812
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
1515 S Manchester Ave, Anaheim, CA, 92802
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Stephen J Bartholet
Principal Investigator
() -
Business Contact:
() -
Research Institute:
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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