Description: 1 Testbed for Cooperative Robotic Manipulators.- 1.1 Introduction.- 1.2 Purposes of the CIRSSE Testbed.- 1.3 Space-Based Assembly.- 1.4 Issues and Results for Space-Based Robotic Applications.- 1.5 Physical Description of the CIRSSE Testbed.- 1.6 Design of the MCS for the CIRSSE Testbed.- 1.7 High-Level Control of the CIRSSE Testbed.- 1.8 Summary.- 1.9 References.- 2 Automated Assembly.- 2.1 Introduction.- 2.2 Facility and Hardware Description.- 2.3 Assembly Operations.- 2.4 Software Structure.- 2.5 Tests.- 2.6 Current Test Observations and Results.- 2.7 Future Research Opportunities.- 2.8 Conclusions.- 2.9 Appendix A.- 2.10 APPENDIX B.- 2.11 References.- 3 A Truss Joint for Robotic Assembly.- 3.1 Space-Based Assembly.- 3.2 The Robot-Friendly Structural Joint Study.- 3.3 Test Descriptions.- 3.4 Test Results and Evaluation.- 3.5 Conclusions.- 3.6 References.- 4 Hierarchical Planning for Space-Truss Assembly.- 4.1 Introduction.- 4.2 Part I: Assembly Sequence Planning.- 4.3 Part II: Assembly Path Planning.- 4.4 References.- 5 Three-Dimensional Vision.- 5.1 Passive Techniques.- 5.2 Active Techniques.- 5.3 Calibration of Fixed Cameras.- 5.4 Calibration of a Laser Scanner.- 5.5 Three-Dimensional Point Estimation Methods.- 5.6 Description of the CIRSSE 3-D Vision System.- 5.7 References.- 6 CIRSSE Gripper and Controller System.- 6.1 Introduction.- 6.2 Gripper Design Specifications.- 6.3 Mechanical Design.- 6.4 Controller Electronic Design.- 6.5 Controller Software Design.- 6.6 Summary.- 6.7 References.- 7 Simulation of Space Manipulators.- 7.1 Introduction.- 7.2 Notation.- 7.3 Single Manipulator Dynamics.- 7.4 Simulation of Cooperating Manipulators.- 7.5 Conclusion.- 7.6 References.- 8 JPL Telerobot Testbed.- 8.1 Background of the NASA/JPL Telerobot Testbed.- 8.2 System Description.- 8.3 Force and Motion Control Capability.- 8.4 World Model System.- 8.5 Collision Detector.- 8.6 Path Planner.- 8.7 Task Primitives.- 8.8 Conclusions.- 8.9 References.

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