通过自重构机器人在太空中进行自组装

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241971

Wei-Min Shen, P. Will, B. Khoshnevis

{"title":"通过自重构机器人在太空中进行自组装","authors":"Wei-Min Shen, P. Will, B. Khoshnevis","doi":"10.1109/ROBOT.2003.1241971","DOIUrl":null,"url":null,"abstract":"Self-assembly systems in space are arguably within the reach of today's technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing: (1) a novel design for intelligent and reconfigurable components; (2) the free-flying \"intelligent fiber/rope\" \"match-maker\" robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"55","resultStr":"{\"title\":\"Self-assembly in space via self-reconfigurable robots\",\"authors\":\"Wei-Min Shen, P. Will, B. Khoshnevis\",\"doi\":\"10.1109/ROBOT.2003.1241971\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Self-assembly systems in space are arguably within the reach of today's technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing: (1) a novel design for intelligent and reconfigurable components; (2) the free-flying \\\"intelligent fiber/rope\\\" \\\"match-maker\\\" robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.\",\"PeriodicalId\":315346,\"journal\":{\"name\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"volume\":\"124 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-11-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"55\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2003.1241971\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2003.1241971","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 55

摘要

基于对地球上可自我重构机器人的研究和开发，可以说，太空中的自组装系统是在当今技术的范围内。本文提出了一种空间自组装的方法:(1)智能可重构组件的新设计;(2)可自由飞行的“智能纤维/绳”“红娘”机器人，系绳可自重构、自调节，实现自主对接;(3)用于规划、执行和监控装配过程的全分布式控制方法。通过一组实验和仿真结果对这些方法进行了部分评价，以模拟零重力环境下自由飞行物体的动力学和控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Self-assembly in space via self-reconfigurable robots

Self-assembly systems in space are arguably within the reach of today's technology based on the research and development of self-reconfigurable robots on earth. This paper presents an approach to self-assembly in space by developing: (1) a novel design for intelligent and reconfigurable components; (2) the free-flying "intelligent fiber/rope" "match-maker" robots with self-reconfigurable and self-adjustable tethering for autonomous docking; and (3) a totally distributed control method for planning, executing, and monitoring the assembly process. These approaches are partially evaluated by a set of experimental and simulation results to simulate the dynamics and control of free-flying objects in zero-gravity environment.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

自引率

0.00%

发文量