Title :
Task planning for robotic manipulation in space applications
Author :
Sanderson, A.C. ; Peshkin, M.A. ; Mello, L. S Homem De
Author_Institution :
Dept. of Electr. Comput. & System Eng., Rensselaer Polytech. Inst., Troy, NY, USA
fDate :
9/1/1988 12:00:00 AM
Abstract :
Space-based robotic systems will require novel technologies of planning and manipulation to accomplish complex tasks such as diagnosis, repair, and assembly task representation, discrete task planning, and control synthesis which provide a design environment for assembly systems, and which extend to planning of manipulation operations in unstructured environments. In this approach, assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. A novel algorithm for planning disassembly and repair using the AND/OR graph is introduced, and examples of repair sequences generated for a satellite electrical module are described. For discrete task planning, the configuration map facilitates search over discrete parameters in the space of bounded configuration sets
Keywords :
aerospace computer control; aerospace instrumentation; assembling; automatic test equipment; automatic testing; maintenance engineering; robots; space vehicle power plants; AND/OR graph representation; ATE; aerospace control; assembly planning; assembly sequences; bounded configuration sets; configuration map; diagnosis; disassembly; discrete task planning; maintenance engineering; repair; robotic manipulation; satellite electrical module; space applications; unstructured environments; Assembly systems; Conferences; Control system synthesis; Humans; Orbital robotics; Robot sensing systems; Robotic assembly; Satellites; Space technology; Technology planning;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
