Model-Based Robot Control with Dynamics Emulation and       Performance Monitoring
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'F. Hank Grant', 'PO_EMAI': None, 'PO_PHON': None}
The proposed research advances the concept that the dynamic                model implemented in a robot controller should describe a physically            realizable manipulator.  This novel approach of dynamics emulation              will reduce the uncertainty in the controller by allowing for                   quantitative measures of the induced approximations.  To the basic              controller structure, this approach adds a supervisory module which             monitors performance and adjusts the feedback gains accordingly.                This module thus adds a degree of adaptiveness to the system and                should produce uniform performance over the entire workspace.  This             approach could lead to the development of a new generation of                   advanced controllers for robotic manipulators.
{'FirstName': 'Vassilios', 'LastName': 'Tourassis', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Vassilios Tourassis', 'EmailAddress': None, 'NSF_ID': '000208093', 'StartDate': '08/01/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of Rochester', 'CityName': 'ROCHESTER', 'ZipCode': '146113847', 'PhoneNumber': '5852754031', 'StreetAddress': '910 GENESEE ST', 'StreetAddress2': 'STE 200', 'CountryName': 'United States', 'StateName': 'New York', 'StateCode': 'NY', 'CONGRESSDISTRICT': '25', 'CONGRESS_DISTRICT_ORG': 'NY25', 'ORG_UEI_NUM': 'F27KDXZMF9Y8', 'ORG_LGL_BUS_NAME': 'UNIVERSITY OF ROCHESTER', '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': '1465', 'Text': 'PRODUCTION SYSTEMS'}, {'Code': '9120', 'Text': 'CROSS-DIRECTORATE PROGRAMS'}]
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1987&All=true', 'xml': '8707622.xml'}