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Carnegie Mellon Robotics Institute

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Abstract

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.

Notes

Text Reference

Chris Paredis and Pradeep Khosla, "Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking," IEEE International Conference on Robotics and Automation, April, 1997, pp. 3473-3480.

BibTeX Reference

@inproceedings{Paredis_1997_990,
   author = "Chris Paredis and Pradeep Khosla",
   title = "Agent-Based Design of Fault Tolerant Manipulators for Satellite Docking",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "3473-3480",
   month = "April",
   year = "1997",
   volume = "4",
}

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