NDLI: Application of automatic action planning for several work cells to the German ETS-VII space robotics experiments

Content Provider	IEEE Xplore Digital Library
Author	Freund, E. Hoffmann, K. Rossmann, J.
Copyright Year	2000
Description	Author affiliation: Inst. of Robotic Res., Dortmund, Germany (Freund, E.)
Abstract	Experiences in space robotics show, that the user normally has to cope with a huge amount of data. So, only robot and mission specialists are able to control the robot arm directly in teleoperation mode. By means of an intelligent robot control in cooperation with virtual reality methods, it is possible for non-robot specialists to generate tasks for a robot or an automation component intuitively. Furthermore, the intelligent robot control improves the safety of the entire system. The on-ground robot control and command station for the robot arm ERA onboard the satellite ETS-VII builds on a new resource-based action planning approach to manage robot manipulators and other automation components. In the case of ERA, the action planning system also takes care of the "real" robot onboard the satellite and the "virtual" robot in the simulation system. By means of the simulation system, the user can plan tasks ahead as well as analyze and visualize different strategies. The paper describes the mechanism of resource-based action planning, its application to different work cells, the practical experiences gained from the implementation for the on-ground robot control and command station for the robot arm ERA developed in the GETEX project as well as the services it provides to support VR-based man machine interfaces.
Starting Page	1239
Ending Page	1244
File Size	679518
Page Count	6
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844768
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotics and automation Robot control Orbital robotics Intelligent robots Automatic control Satellites Automatic generation control Virtual reality Control systems Safety
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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