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Robotic Technologies for in-Space Assembly Operations
Máximo A. Roa, Korbinian Nottensteiner, Armin Wedler, Gerhard Grunwald Institute of Robotics and Mechatronics German Aerospace Center - DLR
14th Symp. Advanced Space Technologies in Robotics and Automation - ASTRA June 21, 2017
Why ISA?
-Synergies between OOS/OOA -Larger, leaner structures -Reduced costs -Overcome limitations at lunch time -…
1890 satellites, 240 claims [Krishna et al., 2016]
Asteroid redirect vehicle
Artificial gravity vehicle
Space dock servicing facility
High definition space telescope Surface ISRU
Solar electric power
Star shades Atmospheric deccelerators
Why ISA?
[Belvin et al., 2016]
I. EXISTING TECHNOLOGIES
Standard interfaces
JAXA EE (JAXA) CTED (ESA)
RSGS Interface (MDA)
MDA passive IF (MDA)
DWIM (Tokyo Tech)
First concepts of OOS/A
ARAMIS (NASA, 1983) Space Applications of Automation, Robotics
and Machine Intelligence Systems
OOS/A: Past missions
Engineering Test Satellite VII (NASDA), 1999 First demo on aut. rendezvous and docking
Orbital express (NASA), 2007 First demo of end-to-end robotic servicing (ORU, fluid transfer)
Existing solutions
Dextre (CSA/NASA) General service and maintenance RRM – Robotic Refueling Mission (2009-2017)
Robonaut (NASA/GM) Monitoring and cleaning tasks
(Current) missions
PHOENIX (DARPA,USNL), FREND program
RESTORE-L (NASA)
https://www.youtube.com/watch?v=QQ0mSNsGlcQ
Previous concepts (Phases A/B)
Trusselator 5cm/min (Tethers Unlimited)
SpiderFab (Tethers Unlimited) NASA NIAC grant
https://www.youtube.com/watch?v=Wg6msu6OUNc
Ongoing projects
Dragonfly (Space Systems Loral with Tethers Unlimited) Assembly Large solid RF reflectors
Archinaut (Made in Space) 3D printing Truss structures
Ciras (Orbital ATK) Deployment Solar arrays
NASA “Tipping Point” Program, Emerging Space Capabilities, 2015
DEOS mission - DLR
DEOS: Deutsche Orbital Servicing Mission
OOS-SIM facility
[Artigas et al., ICRA’15]
http://ieeexplore.ieee.org/document/7139588/
II. AUTONOMOUS ROBOTIC ASSEMBLY
Flexible assembly using a modular construction set
Item Industrietechnik GmbH
Maschinenbau Kitz GmbH
FMS Montagetechnik GmbH
Flexible assembly for products from a modular construction set
Automated process Complex geometry Lot size one Easy to use
[Nottensteiner, Roa et al., ISR’16]
Visual Recognition of Desired Assembly
Demonstration by the user Alternative input from CAD
data Visual feedback of process Three phases:
Perceptive Cognitive Assembly specification
End-effectors
Selected gripper
Assembly Sequence Planning
Feasible sequences generated - through analysis of dissassembly Generation of AND/OR graph to
store variants of sequences
Evaluation of graph considering feasibility, preferred mating actions,…
-
Assembly & Grasp Planning
Considered constraints:
Due to the subassembly Due to the joining action
Quality criterion: distance to COM
-
[Thomas, Roa et al., CASE’15]
Task Pattern Classification
Example of a generated sequence Classification of assembly tasks Four major task types:
Insert_slot_nut Add_angle_bracket Add_screw Position_profiles
Classification concept
Skill Library
Conceptional Skill Execution Flow
Exemplary Skill Sequence for the insert_slot_nut Task
PickUpGroupFromStorage PlacePegInHole PickUpGroupFromStorage
PlaceSlotNutIntoProfile MoveSlotNutIntoProfile PickUpAndPlaceGroupInAssemblyFixture.
Start
Finish
Skill Robustness through Sensor-Based Execution
PlaceObject PlacePegInHole PickUpScrew
Assembling one-of-a-kind
[Nottensteiner, Roa et al., ISR’16]
https://www.youtube.com/watch?v=2jYhdmk-pMg
Examples of Assembled Structures
Next step: Dual arm assembly
[Sundaram, Roa et al., HUMANOIDS’16]
Reachability maps
[Porges, Roa et al., ASTRA’15]
Assembling one-of-a-kind in a more flexible way
III. FINAL REMARKS
Keypoints
Demonstration of on-ground robotic assembly technologies Combination of high/medium/low level planning tools allow the automatic generation of complete workflows Active compliance provides a nice control framework for robust executions, coping with uncertainties Ongoing work – dual arm demonstration with extension to 3D structures
Next step: create a relevant demonstration for in-space assembly Micro-gravity Actively regulated platform Dynamic effects of arm motion Effects of physical contact Handling visual occlusions
Acknowledgments
[email protected] www.robotic.dlr.de/maximo.roa
Dr. Tim Bodenmüller
Andreas Stemmer
Michael Kassecker
Daniel Seidel
Theodoros Stouraitis
Ashok Sundaram
Oliver Porges
Non-DLR:
Dr. Ulrike Thomas (TUC),
Dr. Uwe Zimmermann (KUKA)
Christoph Borst (KUKA)