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    Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking

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    cp.confpro.ICRA.1997.pdf (129.0Kb)
    Date
    1997-04
    Author
    Paredis, Chris
    Khosla, Pradeep K.
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    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.
    URI
    http://hdl.handle.net/1853/33107
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    • Systems Realization Laboratory Publications [45]

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