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REDUNDANT TELEOPERATOR AND ROBOTIC MANIPULATORS

Award Information
Agency: Department of Energy
Branch: N/A
Contract: N/A
Agency Tracking Number: 3482
Amount: $49,850.00
Phase: Phase I
Program: SBIR
Solicitation Topic Code: N/A
Solicitation Number: N/A
Timeline
Solicitation Year: N/A
Award Year: 1986
Award Start Date (Proposal Award Date): N/A
Award End Date (Contract End Date): N/A
Small Business Information
8410 Oak Ridge Highway
Knoxville, TN 37931
United States
DUNS: N/A
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 PAUL E SATTERLEE JR.
 PRINCIPAL INVESTIGATOR
 (615) 690-1320
Business Contact
Phone: () -
Research Institution
N/A
Abstract

THE RECENTLY DEVELOPED NOVIX COMPUTER USES THE LANGUAGE FORTH AS ITS NATIVE ASSEMBLY CODE THEREBY OFFERING THE FLEXIBILITY OF HIGH LEVEL LANGUAGE PROGRAMMING WITH ASSEMBLYLANGUAGE EXECUTION SPEED. THE RESULT IS A HARDWARE/SOFTWAREPERFORMANCE COMBINATION THAT CAN ONLY BE SURPASSED BY COMPLEX AND EXPENSIVE PARALLEL PROCESSING SYSTEMS. THE PRIMARY OBJECTIVE OF THE PROPOSED WORK IS TO RESEARCH AND DEVELOP A NOVIX-BASED CONTROL SYSTEM FOR AN ELECTROMECHANICAL SERVOMANIPULATOR. THE GOAL IS TO PROVIDE A CONTROL SYSTEM WHICH ALLOWS THE MANIPULATOR TO FUNCTION EITHER AS A TELEOPERATED SYSTEM FOR NON-REPETITIVE OPERATIONS, OR AS A ROBOT FOR REPETITIVE TASKS-A TELEROBOTICCONTROLLER. USING THE CONTROL SYSTEM DEVELOPED, ALGORITHMS WHICH OPTIMIZE THE CONTROL OF KINEMATICALLY REDUNDNAT MANIPULATORS WILL BE EXPLORED. REDUNDANT MANIPULATOR KINEMATICS ALLOW LOCAL OBSTACLE AVOIDANCE IN CLUTTERED ENVIRONMENTS COMMON TO POWER PLANTS AND POSE A CHALLENGING CONTROL PROBLEM. THIS EFFORT WILL DEVELOP A MANIPULATOR CONTROL SYSTEM WHICH IS COMPACT, VERSATILE, AND ECONOMICAL ALLOWING FUTURE APPLICATION OF MANIPULATION SYSTEMS TO POWERPLANT MAINTENANCE OPERATIONS. THE CONTROL SYSTEM DEVELOPED WOULD HAVE APPLICATION TO BOTH COMMERCIALLY AVAILABLE MANIPULATOR SYSTEMS AND TO THE REDUNDANT MANIPULATOR MECHANISM WHICH WILL ALSO BE DEVELOPED DURING THIS EFFORT. FUTURE ELECTROMECHANICAL HARDWARE WOULD BE DESIGNED TO UTILIZE THIS CONTROL SYSTEM AND TO MEET MAINTENANCE NEEDS OF SPECIFIC DOE FACILITIES.

* Information listed above is at the time of submission. *

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