| タイトル | Trajectory generation of space telerobots |
| 本文（外部サイト） | http://hdl.handle.net/2060/19900019739 |
| 著者（英） | Lumia, R.; Wavering, A. J. |
| 著者所属（英） | National Inst. of Standards and Technology |
| 発行日 | 1989-01-31 |
| 言語 | eng |
| 内容記述 | The purpose is to review a variety of trajectory generation techniques which may be applied to space telerobots and to identify problems which need to be addressed in future telerobot motion control systems. As a starting point for the development of motion generation systems for space telerobots, the operation and limitations of traditional path-oriented trajectory generation approaches are discussed. This discussion leads to a description of more advanced techniques which have been demonstrated in research laboratories, and their potential applicability to space telerobots. Examples of this work include systems that incorporate sensory-interactive motion capability and optimal motion planning. Additional considerations which need to be addressed for motion control of a space telerobot are described, such as redundancy resolution and the description and generation of constrained and multi-armed cooperative motions. A task decomposition module for a hierarchical telerobot control system which will serve as a testbed for trajectory generation approaches which address these issues is also discussed briefly. |
| NASA分類 | MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT |
| レポートNO | 90N29055 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/136150 |
