Space-based robotic systems will require new technologies of planning and manipulation to accomplish complex tasks such as diagnosis, repair, and assembly. A review is presented of results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for assembly systems, and which extend to planning of manipulation operations in unstructured environments. In this approach, assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. A new algorithm for planning disassembly and repair using the AND/OR graph is introduced, and examples of repair sequences generated for a satellite electrical module are described. For discrete task planning, the configuration map facilitates search over discrete parameters in the space of bounded configuration sets.
|Original language||English (US)|
|Number of pages||11|
|Journal||IEEE Transactions on Aerospace and Electronic Systems|
|State||Published - Sep 1988|
ASJC Scopus subject areas
- Aerospace Engineering
- Electrical and Electronic Engineering