Abstract
This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for Readying ORUs and Reflectors) use-case scenario as proposed by the European Space Agency. A holistic computational design and validation pipeline is proposed, with the aim of comparing different limb designs, as well as ensuring that valid limb candidates enable MARM to perform the complex loco-manipulation tasks required. Motivated by the task complexity in terms of kinematic reachability, (self)-collision avoidance, contact wrench limits, and motor torque limits affecting Earth experiments, this work leverages on multiple state-of-art planning and control approaches to aid the robot design and validation. These include sampling-based planning on manifolds, non-linear trajectory optimization, and quadratic programs for inverse dynamics computations with constraints. Finally, we present the attained MARM design and conduct preliminary tests for hardware validation through a set of lab experiments.
Abstract (translated)
本研究介绍了多臂可拆卸操纵器(MARM)的计算设计和验证,这是一种适用于太空应用的三臂机器人,特别提到了欧洲空间局提出的MIRROR(即准备奥尔特云和反射器的多臂安装机器人)使用场景。本研究提出了整体计算设计和验证通道,旨在比较不同臂设计的不同之处,并确保有效的臂选样能让MARM完成所需的复杂地面操纵任务。基于任务的复杂性,从机械运动到达程、避免自身碰撞、接触扳手限制和电机扭矩限制对地球实验的影响出发,本研究利用多种先进的规划和控制方法来帮助机器人设计和验证。这些包括基于样本的管道规划、非线性路径优化和具有约束条件的逆动力学计算的quadratic程序。最后,我们介绍了达到的MARM设计,并通过一组实验室实验进行硬件验证初步测试。
URL
https://arxiv.org/abs/2301.09863
