A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a given task. The main focus of this paper is on the task based design component of such a system, that is, the determination of the optimal manipulator configuration, its base position and the corresponding joint space trajectory for a given task. We introduce a novel agent-based solution approach to task based design and illustrate it with a fault tolerant manipulator design for a satellite docking operation aboard the space shuttle.


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    Title :

    Agent-based design of fault tolerant manipulators for satellite docking


    Contributors:


    Publication date :

    1997


    Size :

    8 Seiten, 17 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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