Cognitive Modeling for Robotic Assembly/Maintenance Task in Space Exploration

A cognitive control model for space assembly/maintenance task is proposed based on a double-arm robot in this paper. The two arms are designed to implement fixing assemble component and to execute assembling operations respectively. There is one hand and connecting rods articulated by three knots for each arm. The connecting knot retains the rod rotating in one plane. The arm is installed on fixed device which allow arm move with a 2 degree of freedom. By analyzing specific task, the procedural knowledge for cognitive modeling is constructed. Based on ACT-R architecture, a cognitive model for space assembly/maintenance task is constructed, and cognitive control simulation for space assembly is implemented. As an example, to replace solar panel maintenance task is chosen to investigate model's validation and cognitive procedure's rationality. The result shows that both the model's simulating cognitive process and model's running result satisfy human's cognitive characteristic.