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Design of space shuttle tile servicing robot: an application of task based kinematic design

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2 Author(s)
Kim, J. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Khosla, P.K.

A framework called task based design (TBD) to design an optimal robot manipulator for a given task is proposed. Only kinematic parameters are considered. An optimal manipulator is designed. It performs a given task best by using a framework called progressive design that decomposes the complexity of the task into three steps: kinematic design, planning, and kinematic control. As an example problem of TBD, a manipulator for a space shuttle tile servicing task is designed

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993