Unified Control Theory for Heavy Payload Handling Robot
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AbstractThe Orbital Research Unified Control Solution will provide an efficient, flexible modular distributed control system for automated heavy payload handling systems. Part of the efficiency and flexibility of the Orbital Research Unified Control Soloution is provided by the Orbital Research Intelegent Control Algorithm (ORICA). ORICA is a proven adaptive predictive controller that uses a continuously re-identified input-output model to make a prediction about system outputs (eg. robot position) several time steps in the future, and computes a control action that will drive the robot to follow a specified trajectory. The Orbital Research Unified Control Soloution also benefits from the flexibility provided by a modular control system. This program will evaluate the ability of the Orbital Research Unified Control Solution to control a model of an automated gun magazine through all phases of operation, including the grabbing and placing of shells. The Phase I program is focused on evaluating the ability of the distributed Orbotal Research Unified Control Solution to provide a complete control solution for shipboard payload handling systems, such as an automated gun magazine.
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