TASK-BASED DESIGN OF MANIPULATORS: AN AGENT-BASED APPROACH

摘要

This paper introduces a novel agent-based solution approachto Task Based Design (TBD) and illustrates it with afault tolerant manipulator design problem for a satellite dockingoperation aboard the space shuttle. Task Based Design softwareis an important component of a rapidly deployable manipulatorsystem. Such a system consists of interchangeable modular manipulatorcomponents and includes support software for design,control, and trajectory planning. The TBD software allows theuser to determine the manipulator configuration optimally suitedfor a given task. After the user reconfigures the manipulatorto this optimal configuration, the controller and trajectory plannerautomatically adapt themselves to the new configuration sothat the manipulator is ready for immediate deployment.