Huzynets, Anatoliy und Rodriguez Brena, Ismael Valentin und Deremetz, Mathieu und Letier, Pierre und Grunwald, Gerhard und Roa Garzon, Máximo Alejandro (2022) Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks. In: Proceedings of the International Astronautical Congress, IAC. 73rd International Astronautical Congress (IAC), 2022-09-18 - 2022-09-22, Paris, France. ISSN 0074-1795.
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Offizielle URL: https://iafastro.directory/iac/paper/id/74101/summary/
Kurzfassung
In-space assembly is a key technology for the future development of large infrastructures in space, from space stations and telescopes, to solar power plants or planetary bases. Such structures are much larger than cargo areas in current launchers, therefore they must be sent in separate pieces that are assembled in situ, typically using relocatable robotic manipulators. The efficient exploitation of the locomotion and manipulation (loco-manipulation) abilities for such robotic systems requires suitable planning tools. In this paper, we present a motion planning approach for exploiting loco-manipulation abilities of self-relocatable space robots, assuming that they move over specific interconnects that provide the required mechanical, power and data connectivity. The proposed approach consists of three planning layers: a high-level planning for obtaining the contact sequence, a low-level planning for the joint trajectories, and a validation layer. The motion planner provides plans for single locomotion and manipulation tasks, as well as combined loco-manipulation tasks. The approach is illustrated with examples for two robotic systems: MOSAR-WM, a relocatable walking manipulator, and a multi-arm robot (MAR) equipped with two arms attached to a central torso
elib-URL des Eintrags: | https://elib.dlr.de/192703/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Programmrede) | ||||||||||||||||||||||||||||
Titel: | Motion Planning for Relocatable Robots Performing On-Orbit Locomotion and Manipulation Tasks | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | September 2022 | ||||||||||||||||||||||||||||
Erschienen in: | Proceedings of the International Astronautical Congress, IAC | ||||||||||||||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
ISSN: | 0074-1795 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | space robotics, relocatable robot, multi-contact planning, motion planning, loco-manipulation | ||||||||||||||||||||||||||||
Veranstaltungstitel: | 73rd International Astronautical Congress (IAC) | ||||||||||||||||||||||||||||
Veranstaltungsort: | Paris, France | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 18 September 2022 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 22 September 2022 | ||||||||||||||||||||||||||||
Veranstalter : | International Astronautical Federation - IAF | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||
Hinterlegt von: | Roa Garzon, Dr. Máximo Alejandro | ||||||||||||||||||||||||||||
Hinterlegt am: | 21 Dez 2022 08:31 | ||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:53 |
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