Title:
Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
Authors
Paredis, Christiaan J. J.
Khosla, Pradeep K.
Khosla, Pradeep K.
Authors
Advisors
Advisors
Associated Organizations
Organizational Unit
Organizational Unit
Series
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