KINEMATICALLY REDUNDANT ROBOT MANIPULATORS

Award Information
Agency:
Department of Defense
Branch:
Air Force
Amount:
$305,000.00
Award Year:
1984
Program:
SBIR
Phase:
Phase II
Contract:
N/A
Agency Tracking Number:
239
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Scientific Systems Inc.
54 Rindge Avenue Extension, Cambridge, MA, 02140
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
N/A
Principal Investigator
 () -
Business Contact
 DR. JOHN BAILLIEUL
Phone: (617) 661-6364
Research Institution
N/A
Abstract
BECAUSE NONMINIMALLY ARTICULATED (OR KINEMATICALLY REDUNDANT) ROBOT MANIPULATORS HAVE EXTRA DEGREES OF FREEDOM WITH WHICH TO MOVE AND ORIENT END EFFECTORS IN THE WORKSPACE, THEY OFFER A NUMBER OF ADVANTAGES OVER CURRENTLY AVAILABLE DESIGNS. FROM THE VIEWPOINT OF PROGRAMMING AND CONTROL, HOWEVER, THERE ARE POTENTIAL PROBLEMS DUE TO THE INCREASED COMPLEXITY OF THE KINEMATICS AND DYNAMICS. A SIX MONTH RESEARCH EFFORT IS PROPOSED TO COMPARE THE ADVANTAGES AND LIABILITIES OF NONMINIMALLY ARTICULATED MANIPULATORS, AND TO LAY THE GROUNDWORK FOR FUTURE DEVELOPMENT OF DESIGN TOOLS AND CONTROL SOFTWARE FOR THESE DEVICES.

* information listed above is at the time of submission.

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