Intelligent Robotic Systems for Space ExplorationAlan A. Desrochers Springer Science & Business Media, 2012年12月6日 - 345 頁 Over the last twenty years, automation and robotics have played an increasingly important role in a variety of application domains including manufacturing, hazardous environments, defense, and service industries. Space is a unique environment where power, communications, atmospheric, gravitational, and sensing conditions impose harsh constraints on the ability of both man and machines to function productively. In this environment, intelligent automation and robotics are essential complements to the capabilities of humans. In the development of the United States Space Program, robotic manipulation systems have increased in importance as the complexity of space missions has grown. Future missions will require the construction, maintenance, and repair of large structures, such as the space station. This volume presents the effords of several groups that are working on robotic solutions to this problem. Much of the work in this book is related to assembly in space, and especially in-orbit assembly of large truss structures. Many of these so-called truss structures will be assembled in orbit. It is expected that robot manipulators will be used exclusively, or at least provide partial assistance to humans. Intelligent Robotic Systems for Space Exploration provides detailed algorithms and analysis for assembly of truss structure in space. It reports on actual implementations to date done at NASA's Langley Research Center. The Johnson Space Center, and the Jet Propulsion Laboratory. Other implementations and research done at Rensselaer are also reported. Analysis of robot control problems that are unique to a zero-gravity environment are presented. |
內容
1 | |
ThreeDimensional Vision | 5 |
7 | 7 |
45 | 11 |
Processor Subsystems | 17 |
Automated Assembly | 39 |
Strut Identification Convention | 60 |
6 | 79 |
sensor vision system camera truss joint scar and node ball | 129 |
6 | 139 |
Discussion on Assembly Sequence Planning | 152 |
Camera Calibration Coordinate Frame Definitions | 189 |
2 | 259 |
5 | 286 |
JPL Telerobot Testbed | 297 |
2 | 300 |
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常見字詞
algorithm alignment assembly operations assembly sequence automated assembly axis canister CIRSSE Report CIRSSE Testbed collision avoidance commands complete component Conference on Robotics configuration convex hull core struts database determine developed disassembly dynamics effector elements end-effector environment equations error recovery Euler angles evaluation execution force function graph grasp gripper hardware hierarchical IEEE implementation initial insertion installation interface inverse kinematics joint vector kinematic laser laser scanner linear load machine vision mechanism method misalignment motion base motor move object orientation overdetermined system parameters path planner path planning performed Petri nets platform potential field problem processor PUMA Rensselaer Polytechnic Institute robot arm Robotics and Automation rotation matrix Section servo shown in Figure simulation software modules space space-based specific structural assembly strut subsystem task technique telerobotic tests torques tray Troy truss structure vision system VxWorks world coordinate frame