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Task decomposition for a multilimbed robot to work in reachable but unorientable spaceRobot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.
Document ID
19920041467
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Su, Chau
(MCI Telecommunications Corp. Clarksburg, MD, United States)
Zheng, Yuan F.
(Ohio State University Columbus, United States)
Date Acquired
August 15, 2013
Publication Date
December 1, 1991
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 7
ISSN: 1042-296X
Subject Category
Cybernetics
Accession Number
92A24091
Funding Number(s)
CONTRACT_GRANT: NSF DDM-89-96238
CONTRACT_GRANT: JPL-958150
CONTRACT_GRANT: NSF DDM-89-96237
Distribution Limits
Public
Copyright
Other

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