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Topological Task Space Modelling for Autonomous Space Robot Action Planning

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

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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