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Intelligent Robotic Systems for Space Exploration

Author: A A Desrochers
Publisher: Boston, MA : Springer US, 1992.
Series: Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors, 168.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational, and sensing conditions impose harsh constraints on the ability of both man and machines to function productively. In  Read more...
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Details

Genre/Form: Electronic books
Additional Physical Format: Print version:
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: A A Desrochers
ISBN: 9781461536345 1461536340
OCLC Number: 851829719
Description: 1 online resource (xxi, 345 pages)
Contents: 1 Testbed for Cooperative Robotic Manipulators --
1.1 Introduction --
1.2 Purposes of the CIRSSE Testbed --
1.3 Space-Based Assembly --
1.4 Issues and Results for Space-Based Robotic Applications --
1.5 Physical Description of the CIRSSE Testbed --
1.6 Design of the MCS for the CIRSSE Testbed --
1.7 High-Level Control of the CIRSSE Testbed --
1.8 Summary --
1.9 References --
2 Automated Assembly --
2.1 Introduction --
2.2 Facility and Hardware Description --
2.3 Assembly Operations --
2.4 Software Structure --
2.5 Tests --
2.6 Current Test Observations and Results --
2.7 Future Research Opportunities --
2.8 Conclusions --
2.9 Appendix A --
2.10 APPENDIX B --
2.11 References --
3 A Truss Joint for Robotic Assembly --
3.1 Space-Based Assembly --
3.2 The Robot-Friendly Structural Joint Study --
3.3 Test Descriptions --
3.4 Test Results and Evaluation --
3.5 Conclusions --
3.6 References --
4 Hierarchical Planning for Space-Truss Assembly --
4.1 Introduction --
4.2 Part I: Assembly Sequence Planning --
4.3 Part II: Assembly Path Planning --
4.4 References --
5 Three-Dimensional Vision --
5.1 Passive Techniques --
5.2 Active Techniques --
5.3 Calibration of Fixed Cameras --
5.4 Calibration of a Laser Scanner --
5.5 Three-Dimensional Point Estimation Methods --
5.6 Description of the CIRSSE 3-D Vision System --
5.7 References --
6 CIRSSE Gripper and Controller System --
6.1 Introduction --
6.2 Gripper Design Specifications --
6.3 Mechanical Design --
6.4 Controller Electronic Design --
6.5 Controller Software Design --
6.6 Summary --
6.7 References --
7 Simulation of Space Manipulators --
7.1 Introduction --
7.2 Notation --
7.3 Single Manipulator Dynamics --
7.4 Simulation of Cooperating Manipulators --
7.5 Conclusion --
7.6 References --
8 JPL Telerobot Testbed --
8.1 Background of the NASA/JPL Telerobot Testbed --
8.2 System Description --
8.3 Force and Motion Control Capability --
8.4 World Model System --
8.5 Collision Detector --
8.6 Path Planner --
8.7 Task Primitives --
8.8 Conclusions --
8.9 References.
Series Title: Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors, 168.
Responsibility: edited by Alan A. Desrochers.

Abstract:

In the development of the United States Space Program, robotic manipulation systems have increased in importance as the complexity of space missions has grown. Intelligent Robotic Systems for  Read more...

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Publisher Synopsis

'The book will be of most use to those in the space industry who are actually concerned with the fabrication of large space structures.' Journal of Aerospace Engineering 1992

 
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