From Ground to Space-Based Robotic Assembly Dr. Maximo A. Roa, PMP - - PowerPoint PPT Presentation

From Ground to Space-Based Robotic Assembly

• Dr. Maximo A. Roa, PMP

Institute of Robotics and Mechatronics German Aerospace Center - DLR Workshop: Robotic Technology for In-Space Assembly ICRA 2019 May 23, 2019

• I. OOS/R/A MISSIONS

Asteroid redirect vehicle Artificial gravity vehicle Space dock servicing facility High definition space telescope Surface ISRU Solar electric power Star shades Atmospheric deccelerators

Why ISA?

[Belvin et al., 2016]

OOS/A: Past missions

Engineering Test Satellite VII (NASDA), 1999 First demo on aut. rendezvous and docking Orbital express (NASA), 2007 First demo of end-to-end robotic servicing (ORU, fluid transfer)

Existing solutions

Dextre (CSA/NASA) General service and maintenance RRM – Robotic Refueling Mission (2009-2017) Robonaut (NASA/GM) Monitoring and cleaning tasks

Current missions

PHOENIX (DARPA,USNL), FREND program RESTORE-L (NASA)

DEOS mission - DLR

DEOS: Deutsche Orbital Servicing Mission

OOS-SIM facility

https://www.youtube.com/watch?v=ruLLYIjGOKQ

• II. PROJECTS

EU space projects – Space Robotics SRC

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot

Scientific questions:

• How did we come to be?
• Are Earth-like planets common?
• Are we alone?
• …

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot Fairing limitations Ariane 6 Foldable structures

https://www.youtube.com/watch?v=bWw5EOKYHd4

James Webb Space Telescope

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot

Demonstrators:

• dPAMT, demonstrator of

Precise Assembly of Mirror (physical)

• dLSAFFE, demonstrator of

Large Structure Assembly in Free Floating Environment (physical)

• dISAS, demonstrator of In-

Space Assembly in Simulation (virtual)

PULSAR: Prototype of an Ultra-Large Structure Assembly Robot

dPAMT, demonstrator of Precise Assembly

• f Mirror (physical)

Requirements:

• Assembly of 5 min. mirror tiles
• Functional demonstration of mirror (adapt
• ptical surfaces)

Challenges:

• 1G conditions
• Standard interconnections between elements
• Assembly, grasp, motion planning
• Perception, visual servoing

MOSAR: Modular Spacecraft Assembly and Reconfiguration

MOSAR: Modular Spacecraft Assembly and Reconfiguration

Scenario 1: Assembly of 6 SMs Scenario 2: Replacement of a defective module

Existing robotic arms

ERA Canadarm 2 (SSRMS) JEM-RMS Feature SSRMS JEM-RMS ERA Base ISS ISS ISS DoF 7 12 7 Length 17.6m 12.2m 11.3m Mass 1800 kg 970 kg 630 kg Year 2001 2008 2019?

Standard interfaces

Latching End Effector (LEE) iSSI (iBOSS) SIROM

Housing Latch Capture tab APM IF / main structure Guiding petals Actuator Cover lids Spindles Pockets

• III. GROUND-BASED AUTONOMOUS ASSEMBLY

Flexible assembly using a modular construction set

Item Industrietechnik GmbH Maschinenbau Kitz GmbH FMS Montagetechnik GmbH

Flexible assembly for products from a modular construction set

 Automated process  Complex geometry  Lot size one  Easy to use

[Nottensteiner, Roa et al., ISR’16]

Visual Recognition of Desired Assembly

 Demonstration by the user  Alternative input from CAD

data

 Visual feedback of process  Three phases: Perceptive Cognitive Assembly specification

Selected gripper

Assembly Sequence Planning

 Feasible sequences generated

• through analysis of dissassembly

 Generation of AND/OR graph to

store variants of sequences

 Evaluation of graph considering

feasibility, preferred mating actions,…

Assembly & Grasp Planning

 Considered constraints: Due to the subassembly Due to the joining action  Quality criterion: distance to COM

• [Thomas, Roa et al., CASE’15]

Task Pattern Classification

 Example of a generated sequence  Classification of assembly tasks  Four major task types: Insert_slot_nut Add_angle_bracket Add_screw Position_profiles

Conceptional Skill Execution Flow

Exemplary Skill Sequence for the insert_slot_nut Task

PickUpGroupFromStorage PlacePegInHole PickUpGroupFromStorage PlaceSlotNutIntoProfile MoveSlotNutIntoProfile PickUpAndPlaceGroupIn AssemblyFixture.

Start Finish

Skill Robustness through Sensor-Based Execution

PlaceObject PlacePegInHole PickUpScrew

Assembling one-of-a-kind

[Nottensteiner, Roa et al., ISR’16]

https://www.youtube.com/watch?v=2jYhdmk-pMg

Examples of Assembled Structures

Next step: Dual arm assembly

[Sundaram, Roa et al., HUMANOIDS’16] Reachability maps [Porges, Roa et al., ASTRA’15]

Assembling one-of-a-kind in a more flexible way

• III. FINAL REMARKS

Keypoints

 Demonstration of on-ground robotic assembly technologies  Combination of high/medium/low level planning tools allow the

automatic generation of complete workflows

 Active compliance provides a nice control framework for robust

executions, coping with uncertainties

Ongoing work – dual arm demonstration with extension to 3D

structures

 Next step: PROTOTYPICAL demonstrations for in-space assembly PULSAR: Prototype of an Ultra-Large Structure Assembly Robot MOSAR: Modular Spacecraft Assembly and Reconfiguration Multiple challenges: AOCS, walking manipulator, autonomous

assembly with standard interfaces, modularity, robustness…

Acknowledgments

maximo.roa@dlr.de www.robotic.dlr.de/maximo.roa

PULSAR Prototype of an Ultra-Large Structure Assembly Robot MOSAR Modular Spacecraft Assembly and Reconfiguration

Contact

www.smerobotics.org/