Hierarchical planner for space truss assembly

Rajive K. Mathur; Arthur C. Sanderson

doi:10.1117/12.25410

1 February 1991 Hierarchical planner for space truss assembly

Rajive K. Mathur, Arthur C. Sanderson

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25410
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

A hierarchical planning paradigm for space truss assemblies is proposed which generates sequences of assembly operations and is suitable for human, teleoperator, and autonomous robotic implementation. Subgoals satisfying geometric (accessibility) and structural (rigidity) constraints are developed using a hierarchical state representation, and special cost functions are used to conduct a search for locally optimal sequences. Results of two case studies involving assemblies with up to 31 nodes and 102 struts are presented.

Citation Download Citation

Rajive K. Mathur and Arthur C. Sanderson "Hierarchical planner for space truss assembly", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25410

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