SBIR/STTR Research Award
SENSOR BASED WHOLE-ARM OBSTACLE AVOIDANCE FOR REDUNDANT ROBOT ARM MANIPULATORS
Award amount
$500,000Program and phase
SBIR · Phase IIAward year
1992Award details
- Awarding agency
- National Aeronautics and Space Administration
- Branch
- Not reported
- Recipient company
- Merritt Systems Inc.
- Proposal award date
- Not reported
- Contract end date
- Not reported
- UEI
- Not reported
- Solicitation number
- Not reported
- Topic code
- Not reported
Research abstract
THIS PROJECT ADDRESSES AN EXPERIMENTAL SYSTEM FOR INVESTIGATING ISSUES IN SENSOR-BASED OBSTACLE AVOIDANCE FOR REDUNDANT, DEGREE-OF-FREEDOM ROBOT ARM MANIPULATORS. THE EXPERIMENTAL SYSTEM CONSISTS OF A PLANAR, THREE DEGREE-OF-FREEDOM, REDUNDANT, ROBOT ARM MANIPULATOR. THE PERIMETER OF THE ROBOT ARM IS COVERED BY A LINEAR ARRAY OF PROXIMITY SENSORS. THE ASSEMBLED COMPUTER SYSTEM WILL ALLOW THE INCORPORATION OF ROBOTIC-MOTION PLANNING ALGORITHMS TO GUIDE THE ROBOT ARM AROUND ITS ENVIRONMENT WITHOUT COLLIDING INTO OBSTACLES. THIS PROJECT ADDRESSES AN EXPERIMENTAL SYSTEM FOR INVESTIGATING ISSUES IN SENSOR-BASED OBSTACLE AVOIDANCE FOR REDUNDANT, DEGREE-OF-FREEDOM ROBOT ARM MANIPULATORS. THE EXPERIMENTAL SYSTEM CONSISTS OF A PLANAR, THREE DEGREE-OF-FREEDOM, REDUNDANT, ROBOT ARM MANIPULATOR. THE PERIMETER OF THE ROBOT ARM IS COVERED BY A LINEAR ARRAY OF PROXIMITY SENSORS. THE ASSEMBLED COMPUTER SYSTEM WILL ALLOW THE INCORPORATION OF ROBOTIC-MOTION PLANNING ALGORITHMS TO GUIDE THE ROBOT ARM AROUND ITS ENVIRONMENT WITHOUT COLLIDING INTO OBSTACLES.
Technology keywords
Not reported