Space exploration is expanding into longer missions, larger payloads, and more complex operations. To make these larger scale missions a reality, it is necessary to perform assembly, construction, and maintenance tasks via a robotic workforce in addition to crewed operations. While there has been significant research into in-space assembly and manufacturing, it is primarily focused on rigid structural elements, such as ISRU printing or truss construction. Outfitting tasks, such as cable routing, are a critical step to a fully operational in-space facility. This paper seeks to provide a reduced order state model and an optimized combination of state-of-the-art robotics algorithms applied to a cable routing scenario. Simulation results are expected to advance approaches to online autonomous robotic manipulation of non-rigid elements.


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    Titel :

    Robotic Software Architecture for In-Space Outfitting Operations


    Beteiligte:
    A. Quartaro (Autor:in) / J. Cooper (Autor:in) / E. Komendera (Autor:in)

    Erscheinungsdatum :

    2023


    Format / Umfang :

    24 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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