Matthiesen, Jan (1994)
Topological Task Space Modelling for Autonomous Space Robot Action Planning.
In: IFAC Proceedings Volumes, 27 (13)
doi: 10.1016/S1474-6670(17)45824-1
Artikel, Bibliographie
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Kurzbeschreibung (Abstract)
Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, perform assembly, disassembly and handling tasks for maintenance and repair purposes, among others. A key feature of autonomous, task-level commandable maintenance robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a specific sensorially classified situation. This paper shows such a representation for a robot based automated material science experiment setup und 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 as well.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 1994 |
| Autor(en): | Matthiesen, Jan |
| Art des Eintrags: | Bibliographie |
| Titel: | Topological Task Space Modelling for Autonomous Space Robot Action Planning |
| Sprache: | Englisch |
| Publikationsjahr: | September 1994 |
| Verlag: | IFAC - International Federation of Automatic Control |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC Proceedings Volumes |
| Jahrgang/Volume einer Zeitschrift: | 27 |
| (Heft-)Nummer: | 13 |
| Veranstaltungsdatum: | 12.09.1994-16.09.1994 |
| DOI: | 10.1016/S1474-6670(17)45824-1 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, perform assembly, disassembly and handling tasks for maintenance and repair purposes, among others. A key feature of autonomous, task-level commandable maintenance robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a specific sensorially classified situation. This paper shows such a representation for a robot based automated material science experiment setup und 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 as well. |
| Freie Schlagworte: | space robotics, autonomous robot control, task level programming, model based task planning |
| Zusätzliche Informationen: | Zugl. Konferenzveröffentlichung: IFAC Symposium on Automatic Control in Aerospace, 12.-16.09.1994, Palo Alto, USA |
| 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: | 08 Okt 2010 12:42 |
| Letzte Änderung: | 01 Aug 2024 07:58 |
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Topological Task Space Modelling for Autonomous Space Robot Action Planning. (deposited 14 Mär 2023 10:43)
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