Planning assembly/disassembly operations for space teleroboticsSpace telerobotic systems will perform complex tasks of assembly, disassembly, and repair of space-based equipment. Planning such tasks requires reasoning about the functional, physical, and geometrical properties of the equipment, as well as a representation of the characteristics and capabilities of the manipulators and sensors available for the task. The And/Or graph is a useful approach to representation of feasible assembly/disassembly sequences and provides the basis for search among alternative strategies. The paper describes the use of parts entropy measures as evaluation criteria for search in the And/Or graph space. This approach leads to candidate task plans which minimize the complexity of intermediate geometrical states.
Document ID
19890024447
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Sanderson, Arthur C. (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Homem De Mello, Luiz (Carnegie-Mellon University Pittsburgh, PA, United States)