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Assembly planning for large truss structures in space

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2 Author(s)

The approach is based on a graph search algorithm. A relational data structure is used to represent a truss structure. There are four types of entities: units, faces, edges, and vertices. There are contain/contained relationships for every pair of entity types, as well as in-contact relationships between faces. A best-first algorithm constitutes the core of the planner. The cost function in the current implementation corresponds to a combination of the rigidity of the intermediate structures and the total distance to be traversed by the agent executing the assembly tasks

Published in:

Systems Engineering, 1990., IEEE International Conference on

Date of Conference:

9-11 Aug. 1990

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