Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, perform assembly, disassembly and handling tasks for maintenance and repair purposes, among others. A key feature of autonomous, task-level commandable maintenance robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a specific sensorially classified situation. This paper shows such a representation for a robot based automated material science experiment setup und proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented as well.
Topological Task Space Modelling for Autonomous Space Robot Action Planning
2023
Sonstige
Elektronische Ressource
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Topological Task Space Modelling for Autonomous Space Robot Action Planning
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