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Proceedings Paper

Task Planning Issues For An In-Orbit Service Manipulator
Author(s): Richard E. Smith
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Paper Abstract

The problem of practical, space based supervisory control of a manipulator presents special problems beyond those encountered by terrestrial industrial robot systems. This is evident by examining the goals and concerns surrounding the development of intelligent robotics software for the Service Manipulator System (SMS) being developed for the European Space Agency (ESA). While some problems important in terrestrial robotics applications are simplified by the highly engineered nature of the proposed service tasks, other problems introduce new complications. Reliability and testability requirements have a major impact. Uncertainties introduced in component geometries by the stress of launch and deployment are also important. These problems are currently being explored through software experiments and the development of an intelligent robotics testbed.

Paper Details

Date Published: 27 October 1988
PDF: 9 pages
Proc. SPIE 1006, Space Station Automation IV, (27 October 1988); doi: 10.1117/12.949060
Show Author Affiliations
Richard E. Smith, Centro Studi e Applicazioni in Tecnologie Avanzate (Italy)

Published in SPIE Proceedings Vol. 1006:
Space Station Automation IV
Wun C. Chiou, Editor(s)

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