Abstract
This chapter serves three purposes. Firstly, it is intended to give an overview of many of the robotic engineering problems encountered when considering space-based applications. Secondly, during this overview, the approaches to some of these problems, as currently addressed in the robotic testbed facility at Rensselaer’s Center for Intelligent Robotic Systems for Space Exploration, are presented. Thirdly, throughout the survey of these space-based robotic engineering problems, the reader will be directed to the particular chapters in this book that treat these problems in more detail. It is intended that this chapter will motivate the contents of the book.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
L. S. Homem de Mello and A. C. Sanderson, “AND/OR graph representation of assembly plans,” IEEE Transactions on Robotics and Automation, pp. 1888–1899, April 1990.
L. S. Homem de Mello and A. C. Sanderson, “A correct and complete algorithm for the generation of mechanical assembly sequences,” CIRSSE Report 33, Rensselaer Polytechnic Institute, Troy, NY, June 1989.
B. Armstrong, O. Khatib, and J. Burdick, “The explicit dynamic model and inertial parameters of the PUMA 560 arm,” in Proceedings of the 1986 IEEE International Conference on Robotics and Automation, (San Francisco, California), pp. 510–518, April 1986.
R. A. Howard, Dynamic Probabilistic Systems, Vol. 1, (Markov Models). Wiley, 1971.
L. Kleinrock, Queuing Systems, Volume 1: Theory. Wiley, 1975.
R. Suri, “Perturbation analysis: The state of the art and research issues explained via the G/G/l queue,” Proceedings of the IEEE, vol. 77, pp. 114–137, January 1989.
M. K. Molloy, “Performance analysis using stochastic Petri nets,” IEEE Transactions on Computers, vol. C-31, pp. 913–917, September 1982.
P. Ramadge and W. M. Wonham, “The control of discrete event systems,” Proceedings of the IEEE, vol. 77, pp. 81–98, January 1989.
C. A. Petri, Kommunikation mit Automaten. PhD thesis, University of Bonn, Bonn, West Germany, 1962.
C. V. Ramamoorthy and G. S. Ho, “Performance evaluation of asynchronous concurrent systems using Petri nets,” IEEE Transactions on Software Engineering, vol. SE-6, pp. 440–449, September 1980.
M. A. Marsan, G. Conte, and G. Balbo, “A class of generalized Petri nets for the performance evaluation of multiprocessor systems,” ACM Transactions on Computer Systems, vol. 2, pp. 93–122, May 1984.
R. Y. Al-Jaar and A. A. Desrochers, “Performance evaluation of automated manufacturing systems using generalized stochastic Petri nets,” IEEE Transactions on Robotics and Automation, vol. 6, pp. 621–639, December 1990.
J. F. Watson, III and A. A. Desrochers, “Applying generalized stochastic Petri nets to manufacturing systems containing non-exponential transition functions,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 21, July/August 1991.
J. B. Dugan, A. Bobbio, G. Ciardo, and K. Trivedi, “The design of a unified package for the solution of stochastic Petri net models,” in Proceedings of the IEEE International Workshop on Timed Petri Nets, (Torino, Italy), pp. 6–13, July 1985.
G. Chiola, “A graphical Petri net tool for performance analysis,” in Proceedings of the 3rd International Workshop on Modeling Techniques and Performance Evaluation, (Paris), AFCET, March 1987.
J. Robinson and A. A. Desrochers, “Performance analysis of a robotic test-bed control architecture,” in Proceedings of the 1990 IEEE International Conference on Robotics and Automation, (Cincinnati, Ohio), pp. 1782–1787, May 1990.
G. N. Saridis, “Intelligent robotic control,” IEEE Transactions on Automatic Control, vol. AC-28, pp. 547–556, May 1983.
G. N. Saridis, “An analytic formulation of knowledge-based systems for intelligent machines,” CIRSSE Report 3, Rensselaer Polytechnic Institute, Troy, NY, October 1988.
G. N. Saridis and K. P. Valavanis, “Analytical design of intelligent machines,” IFAC Journal Automatica, vol. 24, pp. 123–133, February 1988.
G. N. Saridis, “On the revised theory of intelligent machines,” CIRSSE Report 58, Rensselaer Polytechnic Institute, Troy, NY, June 1990.
G. N. Saridis, “Architectures for intelligent machines,” CIRSSE Report 96, Rensselaer Polytechnic Institute, Troy, NY, July 1991.
G. N. Saridis and M. C. Moed, “Analytic formulation of intelligent machines as neural nets,” CIRSSE Report 1, Rensselaer Polytechnic Institute, Troy, NY, October 1988.
M. C. Moed, “The organizer: Planning tasks with an emergent connectionist/symbolic system,” CIRSSE Report 42, Rensselaer Polytechnic Institute, Troy, NY, September 1989.
F. Wang and G. N. Saridis, “Coordination model for intelligent machines,” CIRSSE Report 15, Rensselaer Polytechnic Institute, Troy, NY, January 1989.
F. Wang, K. J. Kyriakopoulos, A. Tsolkas, and G. N. Saridis, “A Petri net coordination model of intelligent mobile robots,” CIRSSE Report 50, Rensselaer Polytechnic Institute, Troy, NY, January 1990.
R. K. Mathur, “A hierarchical planner for space truss assembly,” CIRSSE Report 57, Rensselaer Polytechnic Institute, Troy, NY, May 1990.
A. C. Sanderson, H. Zhang, and L. S. Homem de Mello, “Assembly sequence planning,” CIRSSE Report 36, Rensselaer Polytechnic Institute, Troy, NY, August 1989.
F. J. Schima, III, “Two arm robot path planning in a static environment using polytopes and string stretching,” CIRSSE Report 77, Rensselaer Polytechnic Institute, Troy, NY, December 1990.
R. Munger, “Path planning for assembly of strut-based structures,” CIRSSE Report 91, Rensselaer Polytechnic Institute, Troy, NY, May 1991.
K. J. Kyriakopoulos and G. N. Saridis, “Collision avoidance of mobile robots in non-stationary environments,” CIRSSE Report 63, Rensselaer Polytechnic Institute, Troy, NY, September 1990.
K. J. Kyriakopoulos and G. N. Saridis, “An optimal control strategy for collision avoidance of mobile robots in non-stationary environments,” CIRSSE Report 83, Rensselaer Polytechnic Institute, Troy, NY, February 1991.
K. J. Kyriakopoulos, “A supervisory control strategy for navigation of mobile robots in dynamic environments,” CIRSSE Report 86, Rensselaer Polytechnic Institute, Troy, NY, March 1991.
R. B. Kelley and S. Bonner, “A representation scheme for rapid 3-D collision detection,” CIRSSE Report 9, Rensselaer Polytechnic Institute, Troy, NY, August 1988.
J. Tornero, “Spherical-Object representation and fast distance computation for robotic applications,” CIRSSE Report 64, Rensselaer Polytechnic Institute, Troy, NY, September 1990.
V. J. Ree, Jr. and L. K. Lauderbaugh, “Issues in the safety of complex systems,” CIRSSE Report 10, Rensselaer Polytechnic Institute, Troy, NY, November 1988.
T. D. Montgomery, “A matrix safety frame approach to robot safety for space applications,” CIRSSE Report 14, Rensselaer Polytechnic Institute, Troy, NY, December 1988.
D. J. Minnick, H. Kaufman, and G. W. Neat, “Expert hierarchical adaptive controller for robotic systems,” CIRSSE Report 27, Rensselaer Polytechnic Institute, Troy, NY, July 1989.
R. Steinvorth, H. Kaufman, and G. W. Neat, “Model reference adaptive control of flexible robots in the presence of sudden load changes,” CIRSSE Report 68, Rensselaer Polytechnic Institute, Troy, NY, October 1990.
R. Steinvorth, “Model reference adaptive control of robots,” CIRSSE Report 87, Rensselaer Polytechnic Institute, Troy, NY, March 1991.
S. H. Murphy and J. T. Wen, “Stability analysis of position and force control for robot arms,” CIRSSE Report 53, Rensselaer Polytechnic Institute, Troy, NY, May 1990.
J. T. Wen and K. Kreutz-Delgado, “Motion and force control of multiple robotic manipulators,” CIRSSE Report 88, Rensselaer Polytechnic Institute, Troy, NY, March 1991.
J. T. Wen and S. H. Murphy, “Simulation and analysis of flexibly jointed manipulators,” CIRSSE Report 56, Rensselaer Polytechnic Institute, Troy, NY, May 1990.
F. Wang and J. T. Wen, “Nonlinear dynamical model and control for a flexible beam,” CIRSSE Report 75, Rensselaer Polytechnic Institute, Troy, NY, November 1990.
L. Lanari and J. T. Wen, “A family of asymptotically stable control laws for flexible robots based on a passivity approach,” CIRSSE Report 85, Rensselaer Polytechnic Institute, Troy, NY, February 1991.
S. H. Murphy, J. T. Wen, and G. N. Saridis, “Simulation of cooperating robot manipulators on a mobile platform,” in Proceedings of the 1990 IEEE International Conference on Robotics and Automation, (Cincinnati, Ohio), pp. 1190–1195, May 1990.
S. H. Murphy, J. T. Wen, and G. N. Saridis, “Analysis of cooperative robotic manipulators on a mobile platform,” in Symposium on Advances in Intelligent Systems, vol. 1387, pp. 14–25, SPIE Proceedings, November 1990.
J. E. Mclnroy and G. N. Saridis, “Reliability analysis in intelligent machines,” CIRSSE Report 39, Rensselaer Polytechnic Institute, Troy, NY, August 1989.
D. Sood, M. C. Repko, and R. B. Kelley, “Using multiple sensors for printed circuit board insertion,” CIRSSE Report 17, Rensselaer Polytechnic Institute, Troy, NY, January 1989.
M. C. Zhou and F. DiCesare, “Adaptive design of Petri net controllers for error recovery in automated menufacturing systems,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 19, pp. 963–973, September/October 1989.
K. E. Nicewarner and R. B. Kelley, “Vision-guided gripping of a cylinder,” CIRSSE Report 93, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
J. L. Cosentino, “Development of a control system for a pair of robotic platforms,” CIRSSE Report 62, Rensselaer Polytechnic Institute, Troy, NY, August 1990.
A. Lin, “Calibration of Aronson 6-DOF robotic platform,” Master’s thesis, Rensselaer Polytechnic Institute, Troy, New York, August 1991.
R. B. Kelley, J. W. Tsai, J. D. Bethel, and J. Peiffer, “Gripper for truss structure assembly,” CIRSSE Report 70, Rensselaer Polytechnic Institute, Troy, NY, October 1990.
J. W. Tsai, “M68HC11 gripper controller software,” CIRSSE Report 90, Rensselaer Polytechnic Institute, Troy, NY, May 1991.
J. D. Bethel, “M68HC11 gripper controller electronics,” CIRSSE Report 92, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
J. R. Noseworthy and L. A. Gerhardt, “Three dimensional vision requirements and applications in a space environment,” in Symposium on Advances in Intelligent Systems, SPIE Proceedings, vol. 1387, pp. 26–37, SPIE Proceedings, November 1990.
K. R. Fieldhouse, K. Holt, D. R. Lefebvre, S. H. Murphy, D. Swift, and J. F. Watson, III, “Lecture materials for the MCS/CTOS introductory course,” CIRSSE Report 97, Rensselaer Polytechnic Institute, Troy, NY, August 1991.
J. F. Watson, III, “Using the CIRSSE Testbed synchronous service,” CIRSSE Technical Memorandum 4, Rensselaer Polytechnic Institute, Troy, NY, May 1991.
D. R. Lefebvre, “CTOS tasks and bootstrap process,” CIRSSE Technical Memorandum 5, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
D. R. Lefebvre, “User guide to CTOS message passing,” CIRSSE Technical Memorandum 6, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
K. Holt, “MCS controllers,” CIRSSE Technical Memorandum 8, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
D. Swift and K. Holt, “MCS channel drivers,” CIRSSE Technical Memorandum 9, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
K. R. Fieldhouse, “CTOS inter-processor blocks,” CIRSSE Technical Memorandum 10, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
K. R. Fieldhouse, “The MCS state manager,” CIRSSE Technical Memorandum 11, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
F. Wang and G. N. Saridis, ”A coordination theory for intelligent machines,“ IFAC Journal Automatica, vol. 26, pp. 833–844, September 1990.
G. N. Saridis and J. H. Graham, “Linguistic decision schemata for intelligent robots,” IFAC Journal Automatica, vol. 20, pp. 121–126, January 1984.
F. Wang and G. N. Saridis, “A formal model for coordination of intelligent machines using Petri nets,” in Proceedings of the 3rd International Intelligent Control Symposium, (Arlington, VA), 1988.
J. L. Peterson, Petri Net Theory and the Modeling of Systems. Prentice-Hall, 1981.
J. E. Peck, “Coordination level Petri net software,” CIRSSE Technical Memorandum 7, Rensselaer Polytechnic Institute, Troy, NY, forthcoming.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1992 Springer Science+Business Media New York
About this chapter
Cite this chapter
Watson, J.F., Lefebvre, D.R., Desrochers, A.A., Murphy, S.H., Fieldhouse, K.R. (1992). Testbed for Cooperative Robotic Manipulators. In: Desrochers, A.A. (eds) Intelligent Robotic Systems for Space Exploration. The Springer International Series in Engineering and Computer Science, vol 168. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3634-5_1
Download citation
DOI: https://doi.org/10.1007/978-1-4615-3634-5_1
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6616-4
Online ISBN: 978-1-4615-3634-5
eBook Packages: Springer Book Archive