Title:
Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
| dc.contributor.author | Paredis, Christiaan J. J. | |
| dc.contributor.author | Khosla, Pradeep K. | |
| dc.contributor.corporatename | Georgia Institute of Technology. The Systems Realization Laboratory | |
| dc.contributor.corporatename | Carnegie-Mellon University. Engineering Design Research Center | |
| dc.contributor.corporatename | Carnegie-Mellon University. Dept. of Electrical and Computer Engineering | |
| dc.contributor.corporatename | Carnegie-Mellon University. Robotics Institute | |
| dc.date.accessioned | 2010-05-20T21:03:46Z | |
| dc.date.available | 2010-05-20T21:03:46Z | |
| dc.date.issued | 1997-04 | |
| dc.description | This paper was presented at the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25. It can be located at http://ieeexplore.ieee.org (DOI: 10.1109/ROBOT.1997.606873). © IEEE | en_US |
| dc.description.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. | en_US |
| dc.description.sponsorship | Department of Energy (Grant #DE-F902-89ER14042). | en_US |
| dc.description.sponsorship | Sandia National Laboratories(Contract AL-3020) | |
| dc.description.sponsorship | The Robotics Institute at Mellon University | |
| dc.description.sponsorship | Georgia Institute of Technology | |
| dc.identifier.citation | Paredis, C. J. J. and Khosla, P. K. (1997) "Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking." in Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25. 3473-3480. | en_US |
| dc.identifier.isbn | 0780336127 | |
| dc.identifier.uri | http://hdl.handle.net/1853/33107 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Fault tolerance | en_US |
| dc.subject | Satellite docking | en_US |
| dc.subject | Task based design | en_US |
| dc.subject | Agent-based design | en_US |
| dc.title | Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking | en_US |
| dc.type | Text | |
| dc.type.genre | Paper | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |