Underwater Demonstrator for Autonomous In-Orbit Assembly of Large Structures
In Robotics and Automation in Space 2020, (i-SAIRAS-2020), 19.10.-23.10.2020, Online, Universities Space Research Association (USRA), Oct/2020.
Abstract :
The PULSAR project aims to develop key-technologies to enable the autonomous assembly of large structures in space. Similar to industrial appli-cations, the assembly process relies on robotic sys-tems capable of assembling modular elements to form a complex structure. However, the in-space assembly provides exceptional challenges necessitat-ing innovation in fields such as free-floating manipu-lation and autonomous robotics. This paper provides details on the PULSAR project and, more specifical-ly, on a hardware-in-the-loop demonstrator dLSAF-FE, developed to show the assembly process of a large telescope mirror in a micro-gravity environ-ment.Keywords :
in-orbit assembly, underwater robotics, esrocos, motion planning, space roboticsLinks:
https://www.researchgate.net/publication/346109699_Underwater_Demonstrator_for_Autonomous_In-Orbit_Assembly_of_Large_Structureshttps://www.hou.usra.edu/meetings/isairas2020fullpapers/pdf/5049.pdf
