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A hierarchical planner for space truss assemblyA hierarchical planning paradigm for space truss assemblies is proposed which generates sequences of assembly operations and is suitable for human, teleoperator, and autonomous robotic implementation. Subgoals satisfying geometric (accessibility) and structural (rigidity) constraints are developed using a hierarchical state representation, and special cost functions are used to conduct a search for locally optimal sequences. Results of two case studies involving assemblies with up to 31 nodes and 102 struts are presented.
Document ID
19920069081
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Mathur, Rajive K.
(NASA Headquarters Washington, DC United States)
Sanderson, Arthur C.
(NASA Center for Intelligent Robotic Systems for Space Exploration; Rensselaer Polytechnic Institute, Troy, NY, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Astronautics (General)
Meeting Information
Meeting: Cooperative Intelligent Robotics in Space
Location: Boston, MA
Country: United States
Start Date: November 6, 1990
End Date: November 7, 1990
Sponsors: SPIE
Accession Number
92A51705
Distribution Limits
Public
Copyright
Other

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