Development and Experimental Evaluation of Advanced Robotics - - PowerPoint PPT Presentation

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Development and Experimental Evaluation of Advanced Robotics - - PowerPoint PPT Presentation

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Development and Experimental Evaluation of Advanced Robotics Technologies Enabling On- Orbit Assembly Steve Ulrich Associate Professor Department of Mechanical and Aerospace Engineering Carleton University, Ottawa, ON Canada Robotic Technology

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Development and Experimental Evaluation of Advanced Robotics Technologies Enabling On- Orbit Assembly

Steve Ulrich Associate Professor Department of Mechanical and Aerospace Engineering Carleton University, Ottawa, ON Canada

Robotic Technology for In-Space Assembly, IEEE International Conference on Robotics and Automation, 2019

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OOA/OOS/ADR Missions

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Key Autonomous Proximity Operations Requirements

Safely navigate to, visually inspect and capture target objects Manipulate and interact with objects of various shapes and masses

Enabling Technologies Developed at Carleton University

Computer Vision Path Planning Advanced Intelligent Control Systems Robotics

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Outline

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics

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Experimental Facility

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Spacecraft Proximity Operations Testbed (SPOT)

8’ x 12’ granite table (AAA-grade)

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0.3 x 0.3 x 0.3 m, 17 kg (wet mass) Modular aluminum structure 4500 psi compressed air tank 8 x 0.25 N air nozzles 1.2GHz 64-bit quad-core ARM Reaction wheel Computer vision sensors 3-link self-supporting robotic arm 8-camera PhaseSpace Motion Capture System

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Outline

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics

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Computer Vision

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Monocular Pose Estimation

Challenge Develop unsupervised, real-time, pose estimation methods relying on a monocular IR camera system Point-based Solutions Improved initialization procedure for the iterative SoftPOSIT approach Improved non-iterative ePnP through projection sentinel Appearance-based Solution Enhanced PWP3D via image statistics

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Shi, J.-F., Ulrich, S., and Ruel, S., “Level-set and Image Statistics for Pose Estimation of Satellites,” 5th International Conference on Control, Dynamic Systems, and Robotics, Niagara Falls, Canada, 7-9 Jun, 2018. Best Paper Award.

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Computer Vision

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Point-Based Solutions vs. Appearance-Based Solution

Shi, J.-F., Ulrich, S., and Ruel, S., “Level-set and Image Statistics for Pose Estimation of Satellites,” 5th International Conference on Control, Dynamic Systems, and Robotics, Niagara Falls, Canada, 7-9 Jun, 2018. Best Paper Award.

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Computer Vision

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Envisat 6DOF Pose Estimation

Shi, J.-F., Ulrich, S., and Ruel, S., “Saliency Detection and 6-DOF Pose Estimation of Monochromatic Monocular Spacecraft Images,” IEEE Transactions on Image Processing, under review.

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Computer Vision

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Foreground Extraction Against Earth Background

Shi, J.-F., Ulrich, S., and Ruel, S., “An Unsupervised Method of Infrared Spacecraft Image Foreground Extraction,” AIAA Journal of Spacecraft and Rockets, under review.

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Computer Vision

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

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Outline

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Trajectory Optimization

Challenge Calculate an ideal trajectory that:

(1) meets boundary conditions (2) avoids physical constraints (3) respects performance limits (4) minimizes the path length

Solution Admissible Suboptimal Trajectory Optimizer (ASTRO)

Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S., Morrell, B. J., Gibbens, P., “Real-time Maneuver Optimization

  • f Space-Based Robots in a Dynamic Environment: Theory and On-Orbit Experiments,” Acta Astronautica, Vol. 142,

2018, pp. 170-183.

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

ASTRO – Static Obstacles

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

ASTRO – SPHERES/ISS Validation

Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S., Morrell, B. J., Gibbens, P., “Real-time Maneuver Optimization

  • f Space-Based Robots in a Dynamic Environment: Theory and On-Orbit Experiments,” Acta Astronautica, Vol. 142,

2018, pp. 170-183.

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

ASTRO – Translating Obstacles

Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S., Morrell, B. J., Gibbens, P., “Real-time Maneuver Optimization

  • f Space-Based Robots in a Dynamic Environment: Theory and On-Orbit Experiments,” Acta Astronautica, Vol. 142,

2018, pp. 170-183.

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

ASTRO – Rotating and Translating Obstacles

Shi, J.-F., Ulrich, S., Chamitoff, G. E., Morrell, B. J., Allen, A., “Trajectory Optimization for Proximity Operations Around Tumbling Geometrical Constraints via Legendre Polynomials,” AIAA/AAS Astrodynamics Specialist Conference, Long Beach, CA, 12-15 Sep, 2016, AIAA Paper 2016-5270.

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

ASTRO – Rotating and Translating Obstacles

Shi, J.-F., Ulrich, S., Chamitoff, G. E., Morrell, B. J., Allen, A., “Trajectory Optimization for Proximity Operations Around Tumbling Geometrical Constraints via Legendre Polynomials,” AIAA/AAS Astrodynamics Specialist Conference, Long Beach, CA, 12-15 Sep, 2016, AIAA Paper 2016-5270.

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Pose Tracking

Challenge Motion synchronization, for robotic capture or rendezvous and docking Solution Formulate the control requirements as constraints, so that exact control inputs can be generated through the Udwadia-Kalaba framework.

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Pothen, A. A., and Ulrich, S., “Close-Range Rendezvous of Multiple Chasers with a Moving Target using Udwadia- Kalaba Equation,” American Control Conference, Philadelphia, PA, 10-12 Jul, 2019. accepted.

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Path Planning

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Udwadia-Kalaba Pose Tracking and Docking

Pothen, A. A., and Ulrich, S., “Close-Range Rendezvous of Multiple Chasers with a Moving Target using Udwadia- Kalaba Equation,” American Control Conference, Philadelphia, PA, 10-12 Jul, 2019. accepted.

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Outline

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics

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Intelligent Control Systems

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Trajectory Tracking Control Under Parametric Uncertainties

Challenge Closed-loop tracking control when mass properties of the chaser are uncertain. Solutions (1) Let the spacecraft learn to track a repetitive trajectory from past mistakes, via iterative learning control (2) Employ adaptive control techniques .

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Intelligent Control Systems

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Iterative Learning Control Based on Confidence Level

Ulrich, S., and Hovell, K., “Iterative Learning Control of Spacecraft Proximity Operations Based on Confidence Level,” AIAA Guidance, Navigation, and Control Conference, Grapevine, TX, 9-13 Jan, 2017, AIAA Paper 2017-1046.

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Intelligent Control Systems

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Simple Adaptive Control

Nominal conditions PD (top) vs SAC (bottom)

Ulrich, S., Saenz-Otero, A., Barkana, I., “Passivity-Based Adaptive Control of Robotic Spacecraft for Proximity Operations under Uncertainties,” AIAA Journal of Guidance, Control, and Dynamics, Vol 39., No. 6, 2016, pp. 1444– 1453.

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Intelligent Control Systems

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Simple Adaptive Control

Off-nominal conditions PD (top) vs SAC (bottom)

Ulrich, S., Saenz-Otero, A., Barkana, I., “Passivity-Based Adaptive Control of Robotic Spacecraft for Proximity Operations under Uncertainties,” AIAA Journal of Guidance, Control, and Dynamics, Vol 39., No. 6, 2016, pp. 1444– 1453.

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Outline

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics

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Advanced Robotics

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Nonlinear Optimal Robotic Arm Deployment

Solution Pseudospectral-based nonlinear optimal trajectory planning Solved with TOMLAB GPOPS-1 DIDO

Crain, A., and Ulrich, S., “Experimental Validation of Pseudospectral-based Optimal Trajectory Planning for a Free- floating Robot,” AIAA Journal of Guidance, Control, and Dynamics, accepted/in press, 2019, doi: 1.G003528.

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Advanced Robotics

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Crain, A., and Ulrich, S., “Experimental Validation of Pseudospectral-based Optimal Trajectory Planning for a Free- floating Robot,” AIAA Journal of Guidance, Control, and Dynamics, accepted/in press, 2019, doi: 1.G003528.

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Advanced Robotics

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

FMS-less Compliant Capture of a Target Object

Challenge FMS-less Compliant robotic interaction during capture phase. The contact forces must be known as accurately as possible, such that a closed-loop impedance controller can be implemented. Solutions Disturbance observer-based impedance control strategies for compliant capture of space objects, without the need of FMS or computationally-expensive estimation methods.

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Flores-Abad, A., Crain, A., Nandayapa, M., Hernandez, G., and Ulrich, S., “Disturbance Observer-based Impedance Control for a Compliant Capture of an Object in Space,” AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, 8-12 Jan, 2018, AIAA Paper 2018-1329.

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Advanced Robotics

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Flores-Abad, A., Crain, A., Nandayapa, M., Hernandez, G., and Ulrich, S., “Disturbance Observer-based Impedance Control for a Compliant Capture of an Object in Space,” AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, 8-12 Jan, 2018, AIAA Paper 2018-1329.

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Advanced Robotics

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Other Robotics-related Projects

Tendon-driven gripper for capturing non-cooperative space objects

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Advanced Robotics

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Hovell, K., and Ulrich, S., “Postcapture Dynamics and Experimental Validation of Subtethered Space Debris,” AIAA Journal of Guidance, Control, and Dynamics, Vol. 41, No. 2, 2018, pp. 519-525.

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Conclusion

  • S. Ulrich, ACC, 8 Jul 2016

Steve Ulrich, ICRA 2019

Key OOS/OOA/ADR enabling-technologies developed at Carleton’s Spacecraft Robotics and Control Laboratory were presented

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For more information, please visit carleton.ca/spacecraft Computer vision Path planning Advanced Intelligent control Systems Robotics