A ROS-based simulation and control framework for in-orbit multi-arm robot assembly operations

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dc.contributor.authorBhadani, Saksham
dc.contributor.authorDillikar, Sairaj R.
dc.contributor.authorPradhan, Omkar N.
dc.contributor.authorCotrina de los Mozos, Irene
dc.contributor.authorFelicetti, Leonard
dc.contributor.authorUpadhyay, Saurabh
dc.contributor.authorTang, Gilbert
dc.date.accessioned2024-01-09T11:27:39Z
dc.date.available2024-01-09T11:27:39Z
dc.date.issued2023-10-20
dc.description.abstractThis 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.en_UK
dc.identifier.citationBhadani 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 Netherlandsen_UK
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20622
dc.language.isoenen_UK
dc.publisherEuropean Space Agency (ESA)en_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectRobot Operating System (ROS)en_UK
dc.subjectOn-orbit Assemblyen_UK
dc.subjectLocomotionen_UK
dc.subjectFree-Floating natureen_UK
dc.subjectMulti- Manipulator Systemen_UK
dc.subjectMulti-Armed Robot for In-Orbit Operationsen_UK
dc.subjectSpatial Reticular Structure (SRS)en_UK
dc.subjectModular Truss Structureen_UK
dc.subjectPath planningen_UK
dc.titleA ROS-based simulation and control framework for in-orbit multi-arm robot assembly operationsen_UK
dc.typeConference paperen_UK

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