SBIR-STTR Award

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Kinematics development tool for manipulators with redundant degrees of freedom
Award last edited on: 4/6/2002

Sponsored Program
SBIR
Awarding Agency
NASA : JPL
Total Award Amount
$545,934
Award Phase
2
Solicitation Topic Code
-----
Principal Investigator
John Forrest Hawk

Company Information

Iteris Inc (AKA: Odetics Inc~Iteris Holdings Inc)

1250 South Capital Of Texas Highway Suite 330
Austin, CA 78746
   (949) 270-9400
   N/A
   www.iteris.com
Location: Single
Congr. District: 45
County: Travis

Phase I

Contract Number: ----------
Start Date: 00/00/00    Completed: 00/00/00
Phase I year
1988
Phase I Amount
$49,416
While several software packages exist for modeling and generating dynamic simulations of general manipulators, no software package simply and automatically provides forward and inverse kinematics which can be used in both real-time controllers and general-purpose simulations. The construction of such a tool is the objective of this project. This tool will provide a simple, reliable means of generating the forward kinematics, Jacobian, and inverse kinematics code for manipulators with any number of redundant degrees of freedom. Phase I will define the algorithms, the inputs and outputs, the internal language, and the simplification rules used by the kinematics development tool. The tool will be coded and further developed in Phase II.

Potential Commercial Applications:
As a symbolic control system code generator, this tool's value will be recognized by the aerospace, nuclear military, and industrial sectors.STATUS: Project Proceded to Phase II

Phase II

Contract Number: ----------
Start Date: 00/00/00    Completed: 00/00/00
Phase II year
1989
Phase II Amount
$496,518
___(NOTE: Note: no official Abstract exists of this Phase II projects. Abstract is modified by idi from relevant Phase I data. The specific Phase II work statement and objectives may differ)___ While several software packages exist for modeling and generating dynamic simulations of general manipulators, no software package simply and automatically provides forward and inverse kinematics which can be used in both real-time controllers and general-purpose simulations. The construction of such a tool is the objective of this project. This tool will provide a simple, reliable means of generating the forward kinematics, Jacobian, and inverse kinematics code for manipulators with any number of redundant degrees of freedom. Phase I will define the algorithms, the inputs and outputs, the internal language, and the simplification rules used by the kinematics development tool. The tool will be coded and further developed in Phase II.

Potential Commercial Applications:
As a symbolic control system code generator, this tool's value will be recognized by the aerospace, nuclear military, and industrial sectors.STATUS: Project Proceded to Phase II