Neutral buoyancy and air-bearing approximations.

Collision and debris; enforce safe zones.

Space Tech Topic 11: Autonomy for On-Orbit Assembly |…

Q: How to model contact in microgravity?

Use compliant control and accurate dynamics.

Q: How to ensure robustness?

Redundancy and graceful degradation.

Q: How to plan tasks?

Constraint-based planners with verification.

Q: Sensing?

Vision, LiDAR, and force/torque sensors.

Q: Communication limits?

Design for autonomy with human-on-the-loop.

Q: Tool changers?

Standardize interfaces and calibration.

Q: Operations?

Scripted sequences with contingency branches.

Core Capabilities

Visual servoing and force control allow robots to accurately track targets and manipulate objects while respecting physical limitations, ensuring precise assembly operations.

Fault detection and recovery mechanisms enable the system to identify errors in real-time and autonomously transition to safe states or implement corrective actions, maintaining operational stability.

Task planning with constraints provides a framework for defining complex assembly sequences, incorporating dependencies, resource allocation, and safety considerations to optimize workflow.

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Verification and Safety

Formal methods, simulation campaigns, and on-orbit validation are utilized to rigorously assess the system's behavior, identify potential vulnerabilities, and demonstrate adherence to safety requirements throughout its operational lifecycle.

Simulation allows for extensive testing of assembly procedures under various conditions, enabling identification of edge cases and refinement of control algorithms before deployment in space.

On-orbit validation provides crucial real-world data to validate simulation results and assess the system’s performance in the challenging environment of space, contributing to increased confidence.

Examples

Example: Truss Assembly Demo showcases a practical application of robotic assembly techniques for constructing large, lightweight structures with high strength-to-weight ratios.

Perception-driven alignment utilizes visual and sensor data to precisely position components relative to each other, enabling accurate joining and minimizing the need for manual adjustments.

Controlled insertion and fastening employs automated tools to securely join structural elements, ensuring long-term stability and integrity of assembled structures.

Validation of structural integrity involves rigorous testing methods, including strain gauges and finite element analysis, to confirm that assembled structures meet specified performance criteria.

Frequently asked questions

How to model contact in microgravity?

Use compliant control and accurate dynamics to account for the effects of contact forces, including friction and elasticity, ensuring robust interaction between robotic manipulators and assembled components.

How to ensure robustness?

Redundancy in critical systems and graceful degradation strategies allow the system to maintain functionality even with component failures, enhancing overall reliability and operational resilience.

How to plan tasks?

Constraint-based planners with verification capabilities enable the generation of optimal assembly sequences while guaranteeing that constraints related to safety, resource availability, and task dependencies are consistently met.

Sensing?

Vision, LiDAR, and force/torque sensors provide comprehensive data for perception, localization, and manipulation control, enabling robots to accurately perceive their environment and interact with objects.

Communication limits?

Design for autonomy with human-on-the-loop provides a safety net by allowing remote operators to intervene when necessary, mitigating the impact of communication delays or disruptions.

Tool changers?

Standardize interfaces and calibration procedures for tool changers ensures seamless transitions between different tasks and minimizes downtime associated with tool maintenance or adjustments.

Power/thermal?

Manage power consumption and thermal loads during assembly tasks to optimize energy efficiency, extend operational lifetime, and prevent overheating of critical components.

Testing?

Neutral buoyancy testing and air-bearing approximations provide simulated microgravity environments for evaluating robotic performance, identifying potential issues, and refining control algorithms prior to launch.

Risk?

Collision avoidance and debris mitigation strategies, including safe zone enforcement and trajectory planning, are crucial for preventing damage to the assembly system or surrounding spacecraft.

Operations?

Scripted sequences with contingency branches allow robots to execute complex assembly procedures while maintaining operational flexibility and adapting to unforeseen events or deviations from planned trajectories.

Try it live

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