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Planning of loco-manipulation tasks for a multi-arm space robot

Huzynets, Anatoliy (2022) Planning of loco-manipulation tasks for a multi-arm space robot. DLR-Interner Bericht. DLR-IB-RM-OP-2022-51. Master's. Politecnico di Milano. 153 S.

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Significant developments of the space sector in recent years are now leading space technology on the brink of a new generation of large space structures. Those structures must be launched in pieces and deployed in situ. A key technology to allow large-scale costeffective on-orbit manufacturing and assembly is autonomous robotics. These concepts may bring relevant advantages for space missions in the near future, but cutting-edge motion planning tools are necessary to effectively operate robotic manipulators. The aim of this thesis is therefore to propose an approach for the motion planning of a robotic self-relocatable multi-arm system. The system is made of two arms mounted on a torso, summing up to a total of 15 degrees of freedom. It features three end effectors. Each end effector is equipped with a standard latching interface, that allows interaction with the world, both for locomotion and manipulation. The proposed approach consists of two layers of planning, a high-level planning of the contact sequence, and a low-level planning of the trajectories that perform the contact sequence. A final additional layer consists of the validation of the output. The motion planner provides plans for single locomotion and manipulation tasks, as well as combined loco-manipulation tasks. The contact planning is performed with numerical optimization and graph search methods. The path planning relies on kinematic tools and rapidly growing random trees. Eventually, trajectories are constructed with the lines and parabolas technique. The algorithms are tested in simulation. It is found that the developed motion planner works as desired in a great variety of cases. It handles different robots, environments and a large set of input tasks. The computing time is suitable for offline use. The outcome of the planning is a fully characterized motion plan, comprising instructions for all actuating devices of the system. It is locally optimal, simulation-validated and compliant with all the considered constraints of the problem.

Item URL in elib:https://elib.dlr.de/192799/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Planning of loco-manipulation tasks for a multi-arm space robot
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:April 2022
Refereed publication:No
Open Access:No
Number of Pages:153
Keywords:Motion planning, Multi-contact planning, Loco-manipulation, Space robotics
Institution:Politecnico di Milano
Department:School of Industrial Engineering and Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:21 Dec 2022 09:39
Last Modified:21 Dec 2022 09:39

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