CLOSED LOOP VISION GUIDED ROBOT

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$50,000.00
Award Year:
1987
Program:
SBIR
Phase:
Phase I
Contract:
n/a
Award Id:
6461
Agency Tracking Number:
6461
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
21 Worthen Rd, Lexington, MA, 02173
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
DANIEL WYSCHOGROD
(617) 863-1060
Business Contact:
() -
Research Institute:
n/a
Abstract
PHASE I WILL ADDRESS ISSUES IN HIGH-ACCURACY, CLOSED-LOOP VISION GUIDED ROBOT MOTION. IT IS PROPOSED TO USE IMAGE FEATURES WHICH CHANGE WITH THE POSITION OF A ROBOT MOUNTED CAMERA. THE VALUES OF THESE FEATURES COMBINED WITH KNOWLEDGE OF THE FEATURE JACOBIAN IN ROBOT CO-ORDINATES WILL BE USED TO CORRECT MANIPULATOR POSITION ALONG A TRAJECTORY. THE MAJOR PHASE I TASK IS TO ANALYTICALLY DETERMINE THE JACOBIAN OF A SET OF FEATURES FOR AN ACTUAL MANIPULATOR AND CREATE A COMPUTER SIMULATION TO PROVE FEASIBILITY. ADDITIONAL TASKS INCLUDE DETERMINATION OF OPTICAL SYSTEM REQUIREMENTS FOR A HARDWARE IMPLEMENTATION AS WELL AS INITIAL DESIGN FOR THE EXPANSION OF THE SIMULATION MODEL TO INCLUDE ARM DYNAMICS.

* information listed above is at the time of submission.

Agency Micro-sites


SBA logo

Department of Agriculture logo

Department of Commerce logo

Department of Defense logo

Department of Education logo

Department of Energy logo

Department of Health and Human Services logo

Department of Homeland Security logo

Department of Transportation logo

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government