SPATIAL PLANNING FOR MOBILE ARTICULATED VEHICLES AND DENDRITIC ROBOTIC SYSTEMS

Award Information
Agency:
National Aeronautics and Space Administration
Amount:
$496,247.00
Program:
SBIR
Contract:
N/A
Solitcitation Year:
N/A
Solicitation Number:
N/A
Branch:
N/A
Award Year:
1989
Phase:
Phase II
Agency Tracking Number:
6791
Solicitation Topic Code:
N/A
Small Business Information
Scientific Research Associates
Po Box 1058, Glastonbury, CT, 06033
Hubzone Owned:
N
Woman Owned:
N
Socially and Economically Disadvantaged:
N
Duns:
N/A
Principal Investigator
 Dr Alexander Y K Chen
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
A PROPOSAL IS PRESENTED HEREIN TO INTRODUCE A NEW PERSPECTIVE OF MACHINE INTELLIGENCE FOR N-LINK GENERAL PURPOSE MANIPULATORS. THIS INNOVATIVE APPROACH NOT ONLY SOLVES THE INVERSE KINEMATIC PROBLEM (IKP), BUT ALSO PROVIDES A POTENTIAL SELF-CORRECTION MECHANISM TO PERFORM THE ASSIGNED TASK. THE TECHNIQUE WILL BE EXTENDED TO INVESTIGATE THE SPATIAL PLANNING OF MOBILE ARTICULATED VEHICLES AS WELL AS ROBOTIC SYSTEMS WITH DENDRITIC CONFIGURATION. IN ORDER TO DRIVE THESE ADVANCED SYSTEMS, ANINTEGRATED CONTROL DESIGN IS REQUIRED. THE RELATED DYNAMICSMODELING, COMPUTER SIMULATION AND NEW CONTROL LAW DEVELOPMENT WILL BE DISCUSSED AND INITIATED.

* information listed above is at the time of submission.

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