A Feasibility Study on the Design of Dynamically Linearized Robots
{'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}
A robot arm is a dynamically complex system due to the dynamic                  coupling between articulating components of the arm and to                      nonlinearity arising from changing configuration and payload.                   These complexities necessarily complicate the control which has                 to account for dynamics as the robot performs its assigned tasks                with the required speed and accuracy.   If the nonlinearities                   could be eliminated, then the dynamics and control would be                     substantially improved.  This project addresses that concept and                determines the feasibiIity of fabricating a three link                          dynamically linearized robot.
{'FirstName': 'Daniel C.H.', 'LastName': 'Yang', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Daniel C.H. Yang', 'EmailAddress': 'dchyang@seas.ucla.edu', 'NSF_ID': '000400962', 'StartDate': '01/01/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of California-Los Angeles', 'CityName': 'LOS ANGELES', 'ZipCode': '900244200', 'PhoneNumber': '3107940102', 'StreetAddress': '10889 WILSHIRE BLVD STE 700', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'California', 'StateCode': 'CA', 'CONGRESSDISTRICT': '36', 'CONGRESS_DISTRICT_ORG': 'CA36', 'ORG_UEI_NUM': 'RN64EPNH8JC6', 'ORG_LGL_BUS_NAME': 'UNIVERSITY OF CALIFORNIA, LOS ANGELES', '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': '1445', 'Text': 'DYNAMICS & CONTROL'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1987&All=true', 'xml': '8700382.xml'}