A systems engineering approach to electro-mechanical reconfiguration for mobility autonomy
Abstract
The performance of a system is a function of the performance of each of its individual components. This work explores the relationship between system performance and subcomponent performance in the electro-mechanical configuration of a mobile robot under the premise that the performance of the mobile robot can be greatly improved through the systematic analysis and design of an efficient electro-mechanical configuration. This work further presumes that the concept of mobility adequately encompasses the metrics by which complete mobile robotic systems may be measured; the purpose of building a mobile robot is assumed to be the creation of a maximally mobile autonomous machine. The performance cost of converting an existing machine into an autonomous machine is then measured by its mobility degradation.
- Publication:
-
NASA STI/Recon Technical Report N
- Pub Date:
- August 1994
- Bibcode:
- 1994STIN...9526926C
- Keywords:
-
- Autonomous Navigation;
- Design Analysis;
- Electromechanical Devices;
- Mobility;
- Robotics;
- Robots;
- Systems Engineering;
- Computer Programs;
- Cost Analysis;
- Performance Tests;
- Mechanical Engineering