Unified Control Theory for Heavy Payload Handling Robot

Award Information
Agency: Department of Defense
Branch: Navy
Contract: N/A
Agency Tracking Number: 40541
Amount: $70,000.00
Phase: Phase I
Program: SBIR
Awards Year: 1998
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
ORBITAL RESEARCH, INC.
11000 Ceadar Ave., Suite 461, Cleveland, OH, 44106
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Ravi Vaidyanathan
 (216) 791-6749
Business Contact
Phone: () -
Research Institution
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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