1 February 1991 Hierarchical planner for space truss assembly
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Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25410
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Abstract
A hierarchical planning paradigm for space truss assemblies is proposed which generates sequences of assembly operations and is suitable for human, teleoperator, and autonomous robotic implementation. Subgoals satisfying geometric (accessibility) and structural (rigidity) constraints are developed using a hierarchical state representation, and special cost functions are used to conduct a search for locally optimal sequences. Results of two case studies involving assemblies with up to 31 nodes and 102 struts are presented.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Rajive K. Mathur, Rajive K. Mathur, Arthur C. Sanderson, Arthur C. Sanderson, } "Hierarchical planner for space truss assembly", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25410; https://doi.org/10.1117/12.25410
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