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.
Agent-based design of fault tolerant manipulators for satellite docking
IEEE International Conference on Robotics and Automation, 1997 ; 4 ; 3473-3480
1997
8 Seiten, 17 Quellen
Aufsatz (Konferenz)
Englisch
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