Matthiesen, Jan (1995)
Topological task space modelling for planning autonomous space robot actions.
In: Control Engineering Practice, 3 (8)
doi: 10.1016/0967-0661(95)00102-Z
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature of autonomous, task-level commandable robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a sensorially classified situation. This paper shows such a representation for a robot-based automated material science experiment set-up. It proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 1995 |
| Autor(en): | Matthiesen, Jan |
| Art des Eintrags: | Bibliographie |
| Titel: | Topological task space modelling for planning autonomous space robot actions |
| Sprache: | Englisch |
| Publikationsjahr: | 1 August 1995 |
| Verlag: | Elsevier |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Control Engineering Practice |
| Jahrgang/Volume einer Zeitschrift: | 3 |
| (Heft-)Nummer: | 8 |
| DOI: | 10.1016/0967-0661(95)00102-Z |
| Kurzbeschreibung (Abstract): | Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature of autonomous, task-level commandable robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a sensorially classified situation. This paper shows such a representation for a robot-based automated material science experiment set-up. It proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 19 Nov 2008 15:58 |
| Letzte Änderung: | 17 Aug 2023 09:34 |
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