Space Cellular Robotic System is a novel manipulating device which can replace space manipulator to realize on-orbit assembly, inspection, and maintenance of large space facilities. In this paper, the expressions system of Space Cellular Robotic System is defined, and the mathematical expressions of robot actions and configurations are established. Then an algorithm based on the minimum set covering problem is proposed to solve the configuration planning problem. Simulation and analysis show that the algorithm can realize the configuration planning with known configurations, and can give the reference of functions and parameters when new configuration design is needed.


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    Titel :

    Configuration Planning of Space Cellular Robotic System


    Beteiligte:
    Zhao, Hang (Autor:in) / Tian, Hao (Autor:in) / Zhao, Yang (Autor:in) / An, Dexiao (Autor:in)


    Erscheinungsdatum :

    2019-07-01


    Format / Umfang :

    344284 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Task planning for robotic manipulation in space applications

    Sanderson, A.C. / Peshkin, M.A. / Homen de Mello, L.S. | Tema Archiv | 1988


    Task planning for robotic manipulation in space applications

    Sanderson, A.C. / Peshkin, M.A. / Homen de Mello, L.S. | IEEE | 1988