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
Agency Tracking Number:
6461
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
Sparta Inc
21 Worthen Rd, Lexington, MA, 02173
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
DANIEL WYSCHOGROD
(617) 863-1060
Business Contact:
() -
Research Institution:
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.

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