Progress in space robotics research at the University of Toronto Institute for Aerospace Studies is reviewed. Development of simulation procedures utilizing the capabilities of parallel processors is underway. Kinematic strategies to handle the large number of degrees of freedom intrinsic to variable geometry truss manipulator arms are being investigated. The use of artificial intelligence techniques and especially of neural networks to control manipulator operation is being studied. One method called MOVE (Manipulator Operation using Value Encoding) based on coarse coding techniques has been developed. The phenomenon of model localization which can result from slight perturbations in a nominally ordered system is also under investigation.


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