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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.

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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.

Associated centers: VASC and FRC
Associated lab/group: NavLab
Associated project: Tessellator

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.

@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"
}