Interactive task planning system for space robots

Keizyu Okabayashi; Ichiro Watanabe; Takeshi Aoki; Tsugito Maruyama; Takashi Uchiyama

doi:10.1117/12.164894

21 December 1993 Interactive task planning system for space robots

Keizyu Okabayashi, Ichiro Watanabe, Takeshi Aoki, Tsugito Maruyama, Takashi Uchiyama

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164894
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

For space robots telemanipulation long communication delay and operator load are serious problems. We have developed a useful off-line robot motion planning system. The operator enters commands using object-level instructions, and low-level actions like path planning, sensor feedback, etc. are generated and executed automatically. The command generation and path planning algorithms in this system are original. The path planning algorithm can generate a collision free path in a few seconds using ready-made suggested paths which we call path- templates. The system greatly simplifies the operator's task and also frees the operator from dealing with the communication delay inherent in space robot telemanipulation.

Citation Download Citation

Keizyu Okabayashi, Ichiro Watanabe, Takeshi Aoki, Tsugito Maruyama, and Takashi Uchiyama "Interactive task planning system for space robots", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164894

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