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16 October 2000 Decentralized kinematics algorithm for modular space robots
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Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403740
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States
Abstract
The Communications Research Laboratory has been studying the inspection technology needed for the first step of an Orbital Maintenance System (OMS) for maintaining space systems by inspecting satellites, re-orbiting useless satellites, and simply repairing satellites in orbit. OMS will use a modular manipulator for remote inspection. One of the most important issues concerning control of the modular manipulator is a determination process that utilizes its decentralized control architecture. In this paper, we introduce a decentralized kinematics control algorithm that automatically adapts to partial faults and reconfigures itself.
© (2000) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Shinichi Kimura and Shigeru Tsuchiya "Decentralized kinematics algorithm for modular space robots", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403740
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