SPATIAL PLANNING FOR MOBILE ARTICULATED VEHICLES AND DENDRITIC ROBOTIC SYSTEMS

Period of Performance: 01/01/1989 - 12/31/1989

$496K

Phase 2 SBIR

Recipient Firm

Scientific Research Assoc., Inc.
P. O. Box 1058, 30C Hebron Avenue
Glastonbury, CT 06033
Principal Investigator

Abstract

A PROPOSAL IS PRESENTED HEREIN TO INTRODUCE A NEW PERSPECTIVE OF MACHINE INTELLIGENCE FOR N-LINK GENERAL PURPOSE MANIPULATORS. THIS INNOVATIVE APPROACH NOT ONLY SOLVES THE INVERSE KINEMATIC PROBLEM (IKP), BUT ALSO PROVIDES A POTENTIAL SELF-CORRECTION MECHANISM TO PERFORM THE ASSIGNED TASK. THE TECHNIQUE WILL BE EXTENDED TO INVESTIGATE THE SPATIAL PLANNING OF MOBILE ARTICULATED VEHICLES AS WELL AS ROBOTIC SYSTEMS WITH DENDRITIC CONFIGURATION. IN ORDER TO DRIVE THESE ADVANCED SYSTEMS, ANINTEGRATED CONTROL DESIGN IS REQUIRED. THE RELATED DYNAMICSMODELING, COMPUTER SIMULATION AND NEW CONTROL LAW DEVELOPMENT WILL BE DISCUSSED AND INITIATED.