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Proceedings Paper

Planning Assembly/Disassembly Operations For Space Telerobotics
Author(s): Arthur C. Sanderson; Luiz Homem de Mello
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Paper Abstract

Space telerobotic systems will perform complex tasks of assembly, disassembly, and repair of space-based equipment. Planning such tasks requires reasoning about the functional, physical, and geometrical properties of the equipment, as well as a representation of the characteristics and capabilities of the manipulators and sensors available for the task. The AND/OR graph [1,2] is a useful approach to representation of feasible assembly/disassembly sequences and provides the basis for search among alternative strategies. In this paper, we describe the use of parts entropy measures as evaluation criteria for search in the AND/OR graph space. This approach leads to candidate task plans which minimize the complexity of intermediate geometrical states.

Paper Details

Date Published: 31 October 1987
PDF: 7 pages
Proc. SPIE 0851, Space Station Automation III, (31 October 1987); doi: 10.1117/12.942895
Show Author Affiliations
Arthur C. Sanderson, Carnegie Mellon University (United States)
Luiz Homem de Mello, Carnegie Mellon University (United States)

Published in SPIE Proceedings Vol. 0851:
Space Station Automation III
Wun C. Chiou, Editor(s)

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