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 robotics