Intelligent Autonomous Material Handling Forklift

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$748,530.00
Award Year:
1998
Program:
SBIR
Phase:
Phase II
Contract:
n/a
Award Id:
37085
Agency Tracking Number:
37085
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
2640 S. Raritan Cir, Englewood, CO, 80110
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Dr. Hemand M. Sardar
(303) 922-7773
Business Contact:
() -
Research Institution:
n/a
Abstract
This Small Business Innovation Research Phase I program will develop a novel hybrid adaptive controller for intelligent control of mobile robotic arms. This technique will couple adaptive position control techniques with force control of the end-effector to enable mobile robotic arms to carry out complex tasks requiring close interaction with the environment. A candidate hybrid adaptive control scheme is designed which has dual adaptive mechanisms, one for the position control subsystem, and another for the force control subsystem. The presence of an adaptation mechanism for both the position and the force loop will allow the robot to handle a range of tasks in semi-structured and unstructured environments. Analytical and simulation studies are carried out to evaluate the stability, robustness, and performance of the proposed scheme. The feasibility of the proposed control strategy will be evaluated for possible experimental prototype development and commercialization during Phase II. Commercially, there are a lot potential opportunities for growth for high-end robotic systems capable of performing complex tasks for a range of applications which require a degree of dexterity and accuracy not currently available in mobile robotic systems. These applications include remote-controlled bomb-handling, clean-up of contaminated environments, handling of hazardous materials, and remote servicing of spacecraft.

* information listed above is at the time of submission.

Agency Micro-sites


SBA logo

Department of Agriculture logo

Department of Commerce logo

Department of Defense logo

Department of Education logo

Department of Energy logo

Department of Health and Human Services logo

Department of Homeland Security logo

Department of Transportation logo

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government