An area of increasing interest in Al Robotics and Computer Vision is integrating techniques from these fields to the problem of controlling autonomous systems. Space-based systems such as NASA''s robotic assembly of Orbital Replacement Units (ORU''s) provide a complex realistic domain for this integration research. In this paper we report on current MITRE research in the use of situated control for autonomous robotic assembly of ORUs. A wrist-mounted camera is used to acquire the pose of ORU''s. An on-line control module uses the pose data to refine the on-going robot actions so that the planned task can be executed both safely and robustly. Experimental results on a Cincinnati Milacron T3 Industrial robot at Goddard Space Right Center (GSFC) Intelligent Robotic Laboratory will be included.
Test of a vision-based autonomous space station robotic task
Cooperative Intelligent Robotics in Space ; 1990 ; Boston,MA,United States
Proc. SPIE ; 1387
1991-02-01
Conference paper
Electronic Resource
English
Robotic vision technology for space station and satellite applications
Online Contents | 1993
|TIBKAT | 2020
|AIAA | 2020
|JERICO: A demonstration of autonomous robotic servicing on the Mir space station
Tema Archive | 1998
|