Task Planning and Control Synthesis for Robotic Manipulation in Space Applications
نویسنده
چکیده
Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. ' results of work in assembly task representation, discrete-ohd synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning-of manipulation operations in unstructured envi ronmentsmmm6ly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over 3 space of discrete operations parameters in sequential operations in order to achieve required goals i n the space of bounded configuration sets. __----
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