SBIR-STTR Award

Dynamically linearized, kinematically redundant spatial manipulator
Award last edited on: 9/9/2002

Sponsored Program
SBIR
Awarding Agency
NSF
Total Award Amount
$35,655
Award Phase
1
Solicitation Topic Code
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Principal Investigator
Ronald S Gompertz

Company Information

Pacific Rim Robotics

6516 Ben Avenue
Los Angeles, CA 91606
   (213) 395-6208
   N/A
   N/A
Location: Single
Congr. District: 29
County: Los Angeles

Phase I

Contract Number: ----------
Start Date: ----    Completed: ----
Phase I year
1986
Phase I Amount
$35,655
There is a national need for robotic manipulators having greater dexterity and faster mechanical and numerical speed and accuracy than those presently in existence. Kinematically redundant manipulators typically increase dexterity at the expense of computational efficiency due to the need for extensive numerical optimization. The critical need for a kinematically redundant manipulator amenable to real-time optimization and control has yet to be met. The objective of this research is to investigate a promising theoretical development which could lead to advanced manipulator concepts offering fast dynamic and control features. Specifically, this research will investigate the application of "dynamic linearization" to kinematically redundant spatial manipulators toward the end of determining the feasibilty of dexterous robots exhibiting both high mechanical and computational speed. Phase I research is entirely analytical. Numerical codes will be developed and extensive simulations will be run to compare the performance of the proposed manipulator to two non-redundant manipulators having equivalent workspaces. The resulting analysis will provide insight into the feasibility of a promising, advanced manipulator concept having a wide range of potential applications.The potential commercial application as described by the awardee: The potential commercial application of the resulting manipulator designs is for industrial robots that are more dexterous and mechanically and computationally faster than those in current usage. The resulting designs will also prove useful in mobile robot, underwater, and extraterrestrial applications due to the potential for minimum actuator energy applications.

Phase II

Contract Number: ----------
Start Date: ----    Completed: ----
Phase II year
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Phase II Amount
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