Title :
Design of space shuttle tile servicing robot: an application of task based kinematic design
Author :
Kim, Jin-Oh ; Khosla, Pradeep K.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
A framework called task based design (TBD) to design an optimal robot manipulator for a given task is proposed. Only kinematic parameters are considered. An optimal manipulator is designed. It performs a given task best by using a framework called progressive design that decomposes the complexity of the task into three steps: kinematic design, planning, and kinematic control. As an example problem of TBD, a manipulator for a space shuttle tile servicing task is designed
Keywords :
aerospace control; control system synthesis; kinematics; manipulators; kinematic control; manipulator; planning; progressive design; space shuttle tile servicing robot; task based kinematic design; Design optimization; Kinematics; Manipulator dynamics; Optimal control; Orbital robotics; Process design; Robot sensing systems; Robotic assembly; Space shuttles; Tiles;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292253
