Title :
Agent-based design of fault tolerant manipulators for satellite docking
Author :
Paredis, Christiaan J J ; Khosla, Pradeep K.
Author_Institution :
Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a given task. The main focus of this paper is on the task based design component of such a system, that is, the determination of the optimal manipulator configuration, its base position and the corresponding joint space trajectory for a given task. We introduce a novel agent-based solution approach to task based design and illustrate it with a fault tolerant manipulator design for a satellite docking operation aboard the space shuttle
Keywords :
aerospace control; artificial satellites; fault tolerant computing; genetic algorithms; path planning; software agents; space vehicles; agent-based design; fault tolerant manipulators; genetic algorithm; modular reconfigurable manipulators; position; satellite docking; space shuttle; task based design; trajectory planning; Design engineering; Fault tolerance; Fault tolerant systems; Hardware; Manipulators; Orbital robotics; Satellites; Space shuttles; Space stations; Trajectory;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606873
