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Proceedings Paper

Robot path planning for space-truss assembly
Author(s): Rolf Muenger; Arthur C. Sanderson
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Paper Abstract

Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as the conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs and are being integrated into the RPI-CIRSSE testbed environment.

Paper Details

Date Published: 1 March 1992
PDF: 11 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56756
Show Author Affiliations
Rolf Muenger, Rensselaer Polytechnic Institute (United States)
Arthur C. Sanderson, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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