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Proceedings Paper

Hierarchical planner for space truss assembly
Author(s): Rajive K. Mathur; Arthur C. Sanderson
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Paper Abstract

A hierarchical planning paradigm for space truss assemblies is proposed which generates sequences of assembly operations and is suitable for human, teleoperator, and autonomous robotic implementation. Subgoals satisfying geometric (accessibility) and structural (rigidity) constraints are developed using a hierarchical state representation, and special cost functions are used to conduct a search for locally optimal sequences. Results of two case studies involving assemblies with up to 31 nodes and 102 struts are presented.

Paper Details

Date Published: 1 February 1991
PDF: 11 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25410
Show Author Affiliations
Rajive K. Mathur, Rensselaer Polytechnic Institute (United States)
Arthur C. Sanderson, Rensselaer Polytechnic Institute (United States)


Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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