Share Email Print
cover

Proceedings Paper

Automated assembly of a tetrahedral truss structure using machine vision
Author(s): William R. Doggett
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

The Automated Structures Assembly Laboratory is a unique facility at NASA Langley Research Center used to investigate the robotic assembly of truss structures. Two special- purpose end-effectors have been used to assemble 102 truss members and 12 panels into an 8- meter diameter structure. One end-effector is dedicated to truss member insertion, while a second end-effector is used to install panels. Until recently, the robot motions required to construct the structure were developed iteratively using the facility hardware. Recent work at Langley has resulted in a compact machine vision system capable of providing position information relative to targets on the structure. Use of the vision system to guide the robot from an approach point 10 to 18 inches from the structure, offsetting model inaccuracies, permits robot motion based on calculated points as a first step toward use of preplanned paths from an automated path planner. This paper presents recent work at Langley highlighting the application of the machine vision system during truss member insertion.

Paper Details

Date Published: 1 November 1992
PDF: 11 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131698
Show Author Affiliations
William R. Doggett, NASA Langley Research Ctr. (United States)


Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

© SPIE. Terms of Use
Back to Top