The Analysis of Cooperating Manipulators in the             Configuration Manifold of the Workpiece
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
Efficient operation of coordinated multiple robot systems requires              continued development in many areas.  One such area is the improved             understanding of the kinematics or motion of the coordinated                    manipulators.  This project contributes to that knowledge.                      Specifically, it advances the formulation of the configuration                  manifold of combined manipulator systems.  A configuration manifold             for a single body is the combined set of possible rotational and                translational states for the body relative to some reference frame.             Each manipulator has its own configuration manifold and the                     intersection of manifolds provides a method for determining the                 available positions of a workpiece held by multiple manipulators.               This research develops a method for finding the intersection.  As               industrial applications for multiple robots grow, the value of this             research becomes more evident.
{'FirstName': 'John', 'LastName': 'McCarthy', 'PI_MID_INIT': 'M', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'John M McCarthy', 'EmailAddress': 'jmmccart@uci.edu', 'NSF_ID': '000465171', 'StartDate': '06/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of California-Irvine', 'CityName': 'IRVINE', 'ZipCode': '926970001', 'PhoneNumber': '9498247295', 'StreetAddress': '160 ALDRICH HALL', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'California', 'StateCode': 'CA', 'CONGRESSDISTRICT': '47', 'CONGRESS_DISTRICT_ORG': 'CA47', 'ORG_UEI_NUM': 'MJC5FCYQTPE6', 'ORG_LGL_BUS_NAME': 'UNIVERSITY OF CALIFORNIA IRVINE', 'ORG_PRNT_UEI_NUM': 'MJC5FCYQTPE6'}
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[{'Code': '144500', 'Text': 'DYNAMICS & CONTROL'}, {'Code': '912000', 'Text': 'CROSS-DIRECTORATE PROGRAMS'}]
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