Real-Time Calibration Techniques for Robots
{'Code': '15030000', 'Directorate': {'Abbreviation': 'TIP', 'LongName': 'Dir for Tech, Innovation, & Partnerships'}, 'Division': {'Abbreviation': 'TI', 'LongName': 'Translational Impacts'}}
{'SignBlockName': 'Ritchie B. Coryell', 'PO_EMAI': None, 'PO_PHON': None}
A prototype position and orientation sensor (POSE) has                     been found to measure position and orientation of a robot end                   effector with a linear accuracy of 10-3 inches and a rotational                 accuracy of 0.5 milliradians, respectively.  In this Small                      Business Innovation Research (SBIR) program Phase II project                    further research focuses on (1) measurement and correction of                   backlash in robot joints and (2) automatic recali-bration of                    the robot to fixtures in its work space.                                             The sensor has (1) a hollowed-out-cube base fixture with                   two collimated light beam projectors and a light-sensitive                      semiconductor device on each of three faces, (2) a light                        reflective fixture mounted on the robot hand, and (3) a                         computer for date processing.  The POSE technology has                          potential for higher manufacturing productivity through                         increased precision in robotic manipulation and decreased time                  to "teach" and "reteach" robot tasks.
{'FirstName': 'Michael', 'LastName': 'Tucker', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Michael Tucker', 'EmailAddress': 'mrt@wavelet.com', 'PI_PHON': '5123289088', 'NSF_ID': '000297382', 'StartDate': '09/01/1958', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'FASTMAN, Inc.', 'CityName': 'Austin', 'ZipCode': '787466545', 'PhoneNumber': '5123289088', 'StreetAddress': '1613 Capitol of TX Hwy S, #222', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Texas', 'StateCode': 'TX', 'CONGRESSDISTRICT': '25', 'CONGRESS_DISTRICT_ORG': 'TX25', 'ORG_UEI_NUM': None, 'ORG_LGL_BUS_NAME': None, 'ORG_PRNT_UEI_NUM': None}
{'Name': None, 'CityName': None, 'StateCode': None, 'ZipCode': None, 'StreetAddress': None, 'CountryCode': None, 'CountryName': None, 'StateName': None, 'CountryFlag': None, 'CONGRESSDISTRICT': None, 'CONGRESS_DISTRICT_PERF': '""'}
{'Code': '5373', 'Text': 'SBIR Phase II'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1988&All=true', 'xml': '8801257.xml'}