TECHNOLOGY DEVELOPMENT FOR A LARGE-SCALE, SPACE-BASED, COMPLIANT MANIPULATOR

Award Information

Agency: National Aeronautics and Space Administration

Branch: N/A

Contract: N/A

Agency Tracking Number: 5158

Amount: $49,891.00

Phase: Phase I

Program: SBIR

Solicitation Topic Code: N/A

Solicitation Number: N/A

Timeline

Solicitation Year: N/A

Award Year: 1987

Award Start Date (Proposal Award Date): N/A

Award End Date (Contract End Date): N/A

Small Business Information

Adaptive Machine Technologies

1224 Kinnear Rd Suite 130

Columbus, OH 43212

United States

DUNS: N/A

HUBZone Owned: No

Woman Owned: No

Socially and Economically Disadvantaged: No

Principal Investigator

Phone: () -

Business Contact

Name: Eric Ribble
Title: Investigator
Phone: () -

Research Institution

N/A

Abstract

THE PERFORMANCE OF LARGE-SCALE, LIGHTWEIGHT, SPACE-BASED MANIPULATORS IS CURRENTLY LIMITED BY THE AVAILABLE CONTROL SYSTEM TECHNOLOGIES. TO ACHIEVE HIGH PERFORMANCE WITH A SPACE-BASED MANIPULATOR, A CONTROL SYSTEM IS REQUIRED WHICH DOES NOT UNDERGO PERFORMANCE DEGRADATION DUE TO MANIPULATOR LINK FLEXURE. RESEARCH AND DEVELOPMENT IN THE AREA OF COMPLIANT MANIPULATOR CONTROL HAS BEEN HINDERED BY TWO PROBLEMS: 1) LACK OF AN EFFECTIVE MEANS OF ACCURATELY MEASURING END-EFFECTOR POSITION, AND 2) INABILITY TO SOLVE THE INVERSEDYNAMIC EQUATIONS IN REAL-TIME. THE OBJECTIVE OF PHASE I IS TO DEVELOP THE BASIC TECHNOLOGY NECESSARY FOR THE DEVELOPMENT OF A LARGE-SCALE, SPACE-BASED,COMPLIANT MANIPULATOR USING ENDPOINT FEEDBACK SYSTEM, A CONTROL LAW USING INVERSE DYNAMICS, AND THE DESIGN OF A HIGHPERFORMANCE, SINGLE BOARD COMPUTER FOR REAL-TIME IMPLEMENTATION OF INVERSE DYNAMICS.

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

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TECHNOLOGY DEVELOPMENT FOR A LARGE-SCALE, SPACE-BASED, COMPLIANT MANIPULATOR