A ROS-based simulation and control framework for in-orbit multi-arm robot assembly operations
Date
2023-10-20
Supervisor/s
Journal Title
Journal ISSN
Volume Title
Publisher
European Space Agency (ESA)
Department
Type
Conference paper
ISSN
Format
Free to read from
Citation
Bhadani S, Dillikar SR, Pradhan ON, et al., (2023) A ROS-based simulation and control framework for in-orbit multi-arm robot assembly operations. Presented at: ASTRA 2023: 17th Symposium on Advanced Space Technologies in Robotics and Automation, 18-20 October 2023, Leiden, The Netherlands
Abstract
This paper develops a simulation and control framework for a multi-arm robot performing in-orbit assembly. The framework considers the robot locomotion on the assembled structure, the assembly planning, and multi-arm control. An inchworm motion is mimicked using a sequential docking approach to achieve locomotion. An RRT* based approach is implemented to complete the sequential assembly as well as the locomotion of MARIO across the structure. A semi-centralised controller model is used to control the robotic arms for these operations. The architecture uses MoveIt! libraries, Gazebo simulator and Python to simulate the desired locomotion and assembly tasks. The simulation results validate the viability of the developed framework.
Description
Software Description
Software Language
Github
Keywords
Robot Operating System (ROS), On-orbit Assembly, Locomotion, Free-Floating nature, Multi- Manipulator System, Multi-Armed Robot for In-Orbit Operations, Spatial Reticular Structure (SRS), Modular Truss Structure, Path planning
DOI
Rights
Attribution 4.0 International