Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3473 - 3480, April, 1997
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.
BibTeX
@conference{Paredis-1997-14341,author = {Chris Paredis and Pradeep Khosla},
title = {Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1997},
month = {April},
volume = {4},
pages = {3473 - 3480},
}
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