CLOSED LOOP VISION GUIDED ROBOT

Award Information
Agency: Department of Defense
Branch: Army
Contract: N/A
Agency Tracking Number: 6461
Amount: $50,000.00
Phase: Phase I
Program: SBIR
Awards Year: 1987
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
21 Worthen Rd, Lexington, MA, 02173
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 DANIEL WYSCHOGROD
 (617) 863-1060
Business Contact
Phone: () -
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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