Matthiesen, Jan (2023)
Topological Task Space Modelling for Autonomous Space Robot Action Planning.
In: IFAC Proceedings Volumes, 1994, 27 (13)
doi: 10.26083/tuprints-00023368
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | Topological Task Space Modelling for Autonomous Space Robot Action Planning |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1994 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 27 |
| Issue Number: | 13 |
| DOI: | 10.26083/tuprints-00023368 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| Abstract: | Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, perform assembly, disassembly and handling tasks for maintenance and repair purposes, among others. A key feature of autonomous, task-level commandable maintenance robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a specific sensorially classified situation. This paper shows such a representation for a robot based automated material science experiment setup und proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented as well. |
| Uncontrolled Keywords: | space robotics, autonomous robot control, task level programming, model based task planning |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-233681 |
| Additional Information: | Zugl. Konferenzveröffentlichung: IFAC Symposium on Automatic Control in Aerospace, 12.-16.09.1994, Palo Alto, USA |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 14 Mar 2023 10:43 |
| Last Modified: | 17 Jul 2023 13:13 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23368 |
| PPN: | 509755135 |
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