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Performance analysis of a robotic system for space-based assemblyA dual arm system for space-based assembly has been under development and experimentation at the Center of Intelligent Robotic Systems for Space Exploration. This paper will describe the components of this system and will then focus on the specific problem of predicting response time of the integrated system. This hierarchical system consists of a task representation and planning level, a coordination level, and an execution level to carry out the desired assembly task. A common modeling methodology based on Petri nets was used to model the various subtasks throughout the levels of the hierarchy. The Petri net model can then be analyzed for liveness and boundedness that, in turn, are used to detect the existence of deadlock or conflict in the system. The model can also be used to calculate the time it will take to complete an assembly task once an operator issues a command. These modeling results are compared with the actual experimental results obtained from carrying out the assembly task.
Document ID
19930022912
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Desrochers, Alan
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Jungnitz, Hauke
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Date Acquired
September 6, 2013
Publication Date
February 1, 1993
Publication Information
Publication: NASA. Lyndon B. Johnson Space Center, The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992)
Subject Category
Cybernetics
Accession Number
93N32101
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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