Project Title:

Coordinated Control of Multiple Manipulator Arms

05.07-0300A
Coordinated Control of Multiple Manipulator Arms
Odetics, Inc.
1515 S. Manchester Ave.
Anaheim
CA
92802
Bartholet
Stephen J.
17577
49,958
JSC

Abstract:

This study will develop a dual manipulator arm system for the coordinated movement
of a commom payload using innovative techniques applied recently by the offeror to
ODEX, a multi-legged walking robot.  The system will operate two six-degree-of-freedom
manipulator arms with path planning in a fashion that allows both arms to produce
a coordinated action on a common payload under the control of an operator using joystick
control.
	The Phase I activities will include acquisition of suitable low cost manipulator
arms and controllers; the interfacing of the arms and controllers with an IBM PC;
the development, programming, and checkout of the required algorithms; and the demonstration
of the system using suitable payloads.  Upon completion of Phase I, Odetics will
recommend a Phase II project that applies the Phase I techniques to more capable
equipment and continues the development of coordinated arm control modes.