TELEROBOT COLLISION/OBSTACLE AVOIDANCE BASED ON REAL-TIME PROXIMITY SENSORS

Award Information
Agency:
National Aeronautics and Space Administration
Branch:
N/A
Amount:
$49,778.00
Award Year:
1988
Program:
SBIR
Phase:
Phase I
Contract:
N/A
Agency Tracking Number:
6784
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Robotics Research Corp
2000b Ford Cir, Milford, OH, 45150
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
N/A
Principal Investigator
 JACK M THOMPSON JR
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
A CRITICAL SUBTECHNOLOGY REQUIRED FOR FUTURE SPACE TELEROBOTS IS A PRACTICAL, SENSOR-BASED REAL TIME OBSTACLE AVOIDANCE SYSTEM CAPABLE OF PREVENTING UNPLANNED COLLISIONS BETWEEN TELEROBOT APPENDAGES AND OBJECTS IN THE MACHINE'S WORKING ENVELOPE. SHARED-CONTROL TECHNIQUES AND FLY-THE-HAND TELEOPERATION TECHNIQUES USED TO CONTROL SUCH DEXTEROUS, KINEMATICALLY-REDUNDANT TELEROBOTS SPECIFY 6 DOF TOOLPOINT COMMANDS, BUT DO NOT DETERMINE MANIPULATOR "POSE", E.G., ELBOW ORIENTATION IN A 7 DOF ARM. THE PROPOSED RESEARCH AND DEVELOPMENT PROJECT AIMS TO PROVE THE CONCEPT OF USING ARM-MOUNTED PROXIMITY SENSORS AND NEW MOTION CONTROL ALGORITHMS TO CONTROL THE POSE OF A KINEMATICALLY-REDUNDANT MANIPULATOR IN SUCH A WAY THAT THE ARM STEERS ITSELF AROUND OBJECTS ENCOUNTERED IN THE WORKSPACE WHILE THE OPERATOR "FLIES THE HAND". ROBOTICS RESEARCH'S ESTABLISHED MECHANISM AND CONTROL TECHNOLOGY IN KINEMATICALLY-REDUNDANT MANIPULATORS SERVES AS A UNIQUELY APPROPRIATE BASIS FOR THIS DEVELOPMENT. MOTION CONTROL ALGORITHMS WILL BE DEMONSTRATED WHICH ARE CAPABLE OF SIMULTANEOUS SINGULARITY/OBSTACLE AVOIDANCE. THIS PROGRAM INCLUDES SENSOR SELECTION AND APPLICATION, ALGORITHM, SOFTWARE AND SYSTEM DEMONSTRATION.

* information listed above is at the time of submission.

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