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Simulation-based intelligent robotic agent for Space Station FreedomA robot control package is described which utilizes on-line structural simulation of robot manipulators and objects in their workspace. The model-based controller is interfaced with a high level agent-independent planner, which is responsible for the task-level planning of the robot's actions. Commands received from the agent-independent planner are refined and executed in the simulated workspace, and upon successful completion, they are transferred to the real manipulators.
Document ID
19900017982
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Biegl, Csaba A. (Vanderbilt Univ. Nashville, TN., United States)
Springfield, James F. (Vanderbilt Univ. Nashville, TN., United States)
Cook, George E. (NASA Marshall Space Flight Center Huntsville, AL., United States)
Fernandez, Kenneth R. (Vanderbilt Univ. Nashville, TN., United States)
Date Acquired
September 6, 2013
Publication Date
May 1, 1990
Publication Information
Publication: Fifth Conference on Artificial Intelligence for Space Applications
Subject Category
Man/System Technology And Life Support
Accession Number
90N27298
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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