Title:
Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
Author(s)
Paredis, Christiaan J. J.
Khosla, Pradeep K.
Khosla, Pradeep K.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
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.
Sponsor
Department of Energy (Grant #DE-F902-89ER14042).
Sandia National Laboratories(Contract AL-3020)
The Robotics Institute at Mellon University
Georgia Institute of Technology
Sandia National Laboratories(Contract AL-3020)
The Robotics Institute at Mellon University
Georgia Institute of Technology
Date Issued
1997-04
Extent
Resource Type
Text
Resource Subtype
Paper
Proceedings
Proceedings