The flight telerobotic servicer (FTS) will support assembly and maintenance activities for the US Space Station. The authors describe an approach to the functional architecture so that teleoperation, slated for beginning of the program, and autonomy, scheduled later in the program, can both be supported. The system is hierarchically organized, with task decomposition, world modeling, and sensory processing explicitly represented. Goals at each level of the hierarchy are decomposed spatially and temporally into simpler tasks, which become goals for lower levels. The spatial decomposition facilitates control and coordination of multiarm robots.
An architecture to support teleoperation and autonomy
Systemarchitektur zur Unterstuetzung von Fernsteuerung und Autonomie
1987
5 Seiten, 11 Quellen
Conference paper
English
Teleoperation and autonomy for space robotics
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