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Agent-based design of fault tolerant manipulators for satellite docking

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2 Author(s)
Paredis, C.J.J. ; Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA ; Khosla, P.K.

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

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997