Unified Control Theory for Heavy Payload Handling Robot

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$70,000.00
Award Year:
1998
Program:
SBIR
Phase:
Phase I
Contract:
n/a
Award Id:
40541
Agency Tracking Number:
40541
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
11000 Ceadar Ave., Suite 461, Cleveland, OH, 44106
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
Ravi Vaidyanathan
(216) 791-6749
Business Contact:
() -
Research Institute:
n/a
Abstract
The 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.

* information listed above is at the time of submission.

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