Expedited Award for Novel Research: A Nonlinear, Robust,    Computationally Efficient Control Scheme for Mechanical     Manipulators
{'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 nonlinear robust control methodology for robot control based on               robust servomechanism theory has been demonstrated by computer                  simulation to possess the capability of achieving satisfactory robot            position control under severe modeling errors.  The object of this              research is to experimentally evaluate the merits of this scheme by             implementing it on a PUMA 560 mechanical manipulator and to determine           the need for possible controller modifications.  Success of this                project would have a significant impact on the operational speed and            accuracy of many robotic manipulators currently used in industrial              operations, including assembly, material handling, welding and                  deburring.  Improved productivity would also result.
{'FirstName': 'Chen-Yuan', 'LastName': 'Kuo', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Chen-Yuan Kuo', 'EmailAddress': 'cykuo@asu.edu', 'NSF_ID': '000298930', 'StartDate': '02/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Arizona State University', 'CityName': 'TEMPE', 'ZipCode': '852813670', 'PhoneNumber': '4809655479', 'StreetAddress': '660 S MILL AVENUE STE 204', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Arizona', 'StateCode': 'AZ', 'CONGRESSDISTRICT': '04', 'CONGRESS_DISTRICT_ORG': 'AZ04', 'ORG_UEI_NUM': 'NTLHJXM55KZ6', 'ORG_LGL_BUS_NAME': 'ARIZONA STATE UNIVERSITY', '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=1988&All=true', 'xml': '8802309.xml'}