Task Planning for Robotic Manipulation in Space Applications

A. C. Sanderson, M. A. Peshkin, L. S. Homem De Mello

Research output: Contribution to journalLetter

9 Scopus citations

Abstract

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 languageEnglish (US)
Pages (from-to)619-629
Number of pages11
JournalIEEE Transactions on Aerospace and Electronic Systems
Volume24
Issue number5
DOIs
StatePublished - Sep 1988

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering

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