Planning Assembly/Disassembly Operations For Space Telerobotics

Arthur C. Sanderson; Luiz Homem de Mello

doi:10.1117/12.942895

31 October 1987 Planning Assembly/Disassembly Operations For Space Telerobotics

Arthur C. Sanderson, Luiz Homem de Mello

Proceedings Volume 0851, Space Station Automation III; (1987) https://doi.org/10.1117/12.942895
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

Space telerobotic systems will perform complex tasks of assembly, disassembly, and repair of space-based equipment. Planning such tasks requires reasoning about the functional, physical, and geometrical properties of the equipment, as well as a representation of the characteristics and capabilities of the manipulators and sensors available for the task. The AND/OR graph [1,2] is a useful approach to representation of feasible assembly/disassembly sequences and provides the basis for search among alternative strategies. In this paper, we describe the use of parts entropy measures as evaluation criteria for search in the AND/OR graph space. This approach leads to candidate task plans which minimize the complexity of intermediate geometrical states.

Citation Download Citation

Arthur C. Sanderson and Luiz Homem de Mello "Planning Assembly/Disassembly Operations For Space Telerobotics", Proc. SPIE 0851, Space Station Automation III, (31 October 1987); https://doi.org/10.1117/12.942895

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