Dynamics-Aware Motion Planning for Robots in Space
Southwest Research Institute developed a robotics simulation package using Drake, a simulation tool for robotics. We also investigated challenges of object identification, trajectory tracking and dynamic motion planning on space-rated systems. To evaluate the simulation, we used a standard robotic arm with a free spinning table with a goal of moving the arm from a start position to a target. Traditional trajectory failed, but dynamic-aware trajectory accomplished the goal. SwRI incorporated a closed-loop visual servo to target camera use. This research is part of Maturing Adaptable Space Technologies (MAST) to develop solutions that will enable in-space servicing, assembly and manufacturing (ISAM).
For more information, visit https://spacerobotics.swri.org?utm_ca....
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(rev 04/2024)