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RI | Publications | Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
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Text only version of this site
Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
J. Kim and P. Khosla
IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 3, May, 1993, pp. 867 - 874.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
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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 centers: VASC and FRC
Associated lab/group: NavLab
Associated project: Tessellator
| Text Reference |
J. Kim and P. Khosla, "Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design," IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 3, 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)",
month = "May",
year = "1993",
volume = "3",
pages = "867 - 874"
}