SBIR Phase I: Ultrasonic Sensor Systems for Object          Range-Imaging Feedback Control of Industrial Robot          Manipulators
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Advantages of ultrasonic sensors are low cost and high precision of             short range measurements.  Effective use of ultrasonic sensor systems           will allow robots to handle imprecisely positioned parts, weld,                 inspect, and perform factory assembly tasks.  Research is underway to           build an array of ultrasonic transducers, mount it on the wrist of a            robot, and integrate it with the manipulator.  The acoustic beams will          be electronically steered and focused.  The electronic beam focusing            will improve parallel processing architecture is proposed to process            the three-dimensional images.  Computer integration between the sensor          acquired data and the manipulator joints control includes a                     motion-patch planning block and a coordinate transformation block.              This technical approach allows the sensor and the manipulator to carry          out extremely dexterous work which demands precise position and motion          path control of the robot hand and/or robot hand-held tools with                respect to work piece.
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{'Code': '5371', 'Text': 'SBIR Phase I'}
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