The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

A framework called task based design (TBD) to design an optimal robot manipulator for a given task is proposed. Only kinematic parameters are considered. An optimal manipulator is designed. It performs a given task best by using a framework called progressive design that decomposes the complexity of the task into three steps: kinematic design, planning, and kinematic control. As an example problem of TBD, a manipulator for a space shuttle tile servicing task is designed.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): Tessellator

Text Reference

Jin-Oh Kim and Pradeep Khosla, "Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design," IEEE International Conference on Robotics and Automation (ICRA '93), May, 1993, pp. 867 - 874.

BibTeX Reference

@inproceedings{Kim_1993_1356,
   author = "Jin-Oh Kim and Pradeep Khosla",
   title = "Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA '93)",
   pages = "867 - 874",
   month = "May",
   year = "1993",
   volume = "3",
}

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