DEVELOPMENT OF A NEW SOLUTION METHOD FOR ROBOT KINEMATIC EQUATIONS

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$49,978.00
Award Year:
1988
Program:
SBIR
Phase:
Phase I
Contract:
n/a
Award Id:
6806
Agency Tracking Number:
6806
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
2 Vantage Way, Nashville, TN, 37228
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
MARY S WAGGENER
() -
Business Contact:
() -
Research Institute:
n/a
Abstract
A NEW TECHNIQUE FOR SOLVING ROBOT KINEMATIC EQUATIONS WILL BE DEVELOPED WHICH WILL RESULT IN A CLOSED FORM EXPRESSION FOR THE JOINT COORDINATES AS FUNCTIONS OF END EFFECTOR POSITION AND ORIENTATION. THE TECHNIQUE IS NEITHER INTERATIVE NOR ANALYTIC. THE JOINT COORDINATES WILL BE MODELED AS NONLINEAR FUNCTIONS OF THE DESIRED POSITION AND ORIENTATION OF THE END EFFECTOR IN OBJECT SPACE. GIVEN ONLYEMPERICAL DATA ON JOINT COORDINATES FOR A SET OF CALIBRATIONPOINTS SPANNING THE SPACE OF A ROBOT'S WORK ENVELOPE, THE MODELS WILL ENABLE CALCULATION OF THE JOINT COORDINATES FOR ANY DESIRED OBJECT SPACE POSITION AND ORIENTATION. THIS ALGORITHM WILL NOT REQUIRE DERIVATION OF THE ROBOT'S KINEMATIC EQUATIONS OR ANY A PRIOR KNOWLEDGE OF THE REFERENCE COORDINATE SYSTEM OR END EFFECTOR IN USE. ONCE THE MODELS ARE DERIVED, EACH JOINT COORDINATE WILL REQUIRE ONLY ONE FUNCTION EVALUATION AND NO TRANSCENDENTAL FUNCTION CALLS. THE FUNCTIONS WILL BE DIFFERENTIABLE, ENABLING CALCULATION OF JOINT VELOCITIES GIVEN END EFFECTOR VELOCITY.THE ALGORITHM MAY ENABLE MORE SOPHISTICATED ROBOT DESIGN BY PROVIDING CLOSED FORM SOLUTIONS FOR ARCHITECTURES WHICH ARE TOO COMPLEX TO SOLVE USING EXISTING ANALYTIC TECHNIQUES.IT MAY ALSO PROVIDE A SIMPLE METHOD FOR MODELING FLEXIBLE MANIPULATORS AND MANUFACTURING ERRORS SUCH AS THE MISALIGNMENT OF AXES AND ORIGIN TRANSLATION.

* 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