Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 3, pp. 867 - 874, May, 1993
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.
BibTeX
@conference{Kim-1993-13491,author = {Jin-Oh Kim and Pradeep Khosla},
title = {Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1993},
month = {May},
volume = {3},
pages = {867 - 874},
}
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