30 October 1996 Hybrid teleoperated/cooperative multirobot system for complex retrieval operations
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Cooperative multirobot systems are capable of performing fairly complex tasks even while operating in an autonomous or semi-autonomous mode. The multiple views of an object afforded by a multirobot system enhance the overall level of information that is vital for success in such tasks as satellite retrieval operations. Our previous studies along these lines indicated that although simple control strategies were sufficient for the success of such a mission, limitations in the accuracy of the visual sensors led to misses during the grasping phase. This paper extends the cooperative multirobot system framework that was previously presented for more complex retrieval operations such as the recovery of a tumbling satellite. The subsumption architecture that is used for control of the multirobot system is capable of the recovery of a satellite spinning about its long axis. In this paper, it is shown that it is impractical for a free-floating multirobot system to perform the same task for a tumbling satellite. The reach-space limitations of free-floating platforms dictate a free-flying approach to the problem. In addition, using current visual sensing technology, such a system must also include a teleoperated interface due to the accuracy concerns noted in the previous study. We also present the results of an experimental simulation study of a tumbling satellite retrieval by three cooperating robots. This simulation includes full orbital dynamics effects such as atmospheric drag and non-spherical gravitation field perturbations.
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Terrance L. Huntsberger, Terrance L. Huntsberger, } "Hybrid teleoperated/cooperative multirobot system for complex retrieval operations", Proc. SPIE 2905, Sensor Fusion and Distributed Robotic Agents, (30 October 1996); doi: 10.1117/12.256330; https://doi.org/10.1117/12.256330

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