Intelligent Robotic Systems for Space Exploration

Intelligent Robotic Systems for Space Exploration edited by Alan A. Desrochers.

Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational,...

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Bibliographic Details
Corporate Author: SpringerLink (Online service)
Other Authors: Desrochers, Alan A. (Editor)
Format: eBook
Language:English
Published: New York, NY : Springer US : Imprint: Springer, 1992.
Edition:1st ed. 1992.
Series:The Springer International Series in Engineering and Computer Science, 168
Springer eBook Collection.
Subjects:
Robotics.
Automation.
Control engineering.
Mechatronics.
Electrical engineering.
Artificial intelligence.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • 1 Testbed for Cooperative Robotic Manipulators
  • 1.1 Introduction
  • 1.2 Purposes of the CIRSSE Testbed
  • 1.3 Space-Based Assembly
  • 1.4 Issues and Results for Space-Based Robotic Applications
  • 1.5 Physical Description of the CIRSSE Testbed
  • 1.6 Design of the MCS for the CIRSSE Testbed
  • 1.7 High-Level Control of the CIRSSE Testbed
  • 1.8 Summary
  • 1.9 References
  • 2 Automated Assembly
  • 2.1 Introduction
  • 2.2 Facility and Hardware Description
  • 2.3 Assembly Operations
  • 2.4 Software Structure
  • 2.5 Tests
  • 2.6 Current Test Observations and Results
  • 2.7 Future Research Opportunities
  • 2.8 Conclusions
  • 2.9 Appendix A
  • 2.10 APPENDIX B
  • 2.11 References
  • 3 A Truss Joint for Robotic Assembly
  • 3.1 Space-Based Assembly
  • 3.2 The Robot-Friendly Structural Joint Study
  • 3.3 Test Descriptions
  • 3.4 Test Results and Evaluation
  • 3.5 Conclusions
  • 3.6 References
  • 4 Hierarchical Planning for Space-Truss Assembly
  • 4.1 Introduction
  • 4.2 Part I: Assembly Sequence Planning
  • 4.3 Part II: Assembly Path Planning
  • 4.4 References
  • 5 Three-Dimensional Vision
  • 5.1 Passive Techniques
  • 5.2 Active Techniques
  • 5.3 Calibration of Fixed Cameras
  • 5.4 Calibration of a Laser Scanner
  • 5.5 Three-Dimensional Point Estimation Methods
  • 5.6 Description of the CIRSSE 3-D Vision System
  • 5.7 References
  • 6 CIRSSE Gripper and Controller System
  • 6.1 Introduction
  • 6.2 Gripper Design Specifications
  • 6.3 Mechanical Design
  • 6.4 Controller Electronic Design
  • 6.5 Controller Software Design
  • 6.6 Summary
  • 6.7 References
  • 7 Simulation of Space Manipulators
  • 7.1 Introduction
  • 7.2 Notation
  • 7.3 Single Manipulator Dynamics
  • 7.4 Simulation of Cooperating Manipulators
  • 7.5 Conclusion
  • 7.6 References
  • 8 JPL Telerobot Testbed
  • 8.1 Background of the NASA/JPL Telerobot Testbed
  • 8.2 System Description
  • 8.3 Force and Motion Control Capability
  • 8.4 World Model System
  • 8.5 Collision Detector
  • 8.6 Path Planner
  • 8.7 Task Primitives
  • 8.8 Conclusions
  • 8.9 References.

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