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Proceedings Paper

Knowledge-based task planning for the special purpose dextrous manipulator
Author(s): P. Feighan; Aldo Dagnino; K. Chrystall; Piotr Wojcik
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Paper Abstract

This paper presents the design of a knowledge-based task planning system for the special purpose dexterous manipulator (SPDM). The SPDM is a component of Canada's contribution to the International Space Station Project, the Mobile Servicing System (MSS), which will assist in assembling, servicing, and maintaining the Space Station Freedom through the use of advanced robot systems. A general description of a supervisory control system for the SPDM is presented. The supervisory control system includes space based and ground control systems. Knowledge-based task planning is performed within the ground control system. The ground control system includes a world model, a task decomposition sub-system, and an operator interface. The functionality and interconnections of these sub-systems are explained in detail in the paper.

Paper Details

Date Published: 1 November 1992
PDF: 11 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131691
Show Author Affiliations
P. Feighan, Alberta Research Council (Canada)
Aldo Dagnino, Alberta Research Council (Canada)
K. Chrystall, Alberta Research Council (Canada)
Piotr Wojcik, Alberta Research Council (Canada)

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

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