The Next Step SPACE ROBOTICS INITIATIVE TIM990713-1 Robotic Assembly and Maintenance of Space Solar Power Facilities Red Whittaker The Robotics Institute.

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-1

Robotic Assembly and Maintenance of Robotic Assembly and Maintenance of Space Solar Power FacilitiesSpace Solar Power Facilities

Robotic Assembly and Maintenance of Robotic Assembly and Maintenance of Space Solar Power FacilitiesSpace Solar Power Facilities

Red WhittakerThe Robotics Institute

Carnegie Mellon UniversityPittsburgh, PA 15213

[email protected]

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-2

VisionVisionVisionVision

SSP is a compelling motivation for a robotic workforce• decades of operational life in high orbit• extensive scale and repeating topology• fragile and flexible structures• repetitive construction and maintenance tasks

Robots are an enabling technology for SSP• join structural elements, make electrical connections, replace

electronics modules, perform inspections,…• provide full life cycle robotic presence

Walking sticks are favored over fixed and free flying robots• free-flyers expend propellant and incur docking risks

• fixed manipulators require base structure, vast length and impart large base reaction forces

• walking sticks are an unexplored technology

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-3

Heritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & Technologies

Self Mobile Space Manipulator• node walker• adaptive control• visual tracking• gravity compensation

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-4

Heritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesAmbler and Dante walking robots

• gait planning• closed kinematic chain control• force regulation• task control

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-5

Heritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & Technologies

RWV and Pioneer worksystems• mobile manipulation• tooling• task operations

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-6

Skyworker - Walking StickSkyworker - Walking StickSkyworker - Walking StickSkyworker - Walking Stick

• Assembles and maintains SSP facilities

• Grasps payloads and connects to other Skyworkers

• “Walks” by successive attachment to SSP backbone

• Steps softly and accommodates flexible structures

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-7

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-8

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-9

9-Month Objectives9-Month Objectives9-Month Objectives9-Month Objectives

• Demonstrate SSP relevant AIM tasks using robotics– carry and handle materials– mate mechanical and electrical components– inspect surfaces, structure and modules

• Emulate prospective SSP AIM robots and tasks– explore alternative Skyworker designs and derive optimal

robot configuration– simulate Skyworker capabilities beyond those physically demonstrated – investigate alternative task approaches

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-10

Project ScheduleProject ScheduleProject ScheduleProject Schedule

ConfigurationAnalysis & Design

ConfigurationAnalysis & Design

0 2 4 96month

CDR

PDR

Skyworker Development

Skyworker Development

Robot Tests& Exercises

Robot Tests& Exercises

CapabilityStudies

CapabilityStudies

SkyworkerEmulator

Development

SkyworkerEmulator

Development

DemonstrationDemonstration

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-11

Robot DemonstratorRobot DemonstratorRobot DemonstratorRobot Demonstrator

• Mobility on representative SSP structures– attachment to structural elements– gait and motion control on flexible structures – threading between and wrapping around elements

• Manipulation of representative SSP components– grasping, carrying and docking of objects & tools– manipulation force regulation

• Goals– understand the robot’s interaction with SSP structures– verify robot configuration

task sequencinghuman interfaces

automated inspection

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-12

Robot EmulatorRobot EmulatorRobot EmulatorRobot Emulator

• Quantify energy efficiency, speed, accuracy,…

• Explore alternative approaches to tasks– cooperating robots (pairs, triples, …)– individuals linked together in chains (parallel, serial)

• Model automation technologies– motion sequencing, perception, safeguarding– advanced task automation – automated inspection

• Goals– plug ‘n play compatibility with robot demonstrator– variable speed (real-time ±) operation– faithful representation of physics

The Next StepSPACE ROBOTICS INITIATIVE

TIM990713-13

Process MapProcess MapProcess MapProcess Map

mechatronics• sensors• mechanicals• electronics• control

- mobility- manipulation

• automation- operations- tasks

emulation• kinetics• dynamics• planning

- gait- grasp

SSP facility mockup

• extent• flexibility• geometry

demonstration• tools & payloads• gravity

compensation

configuration• task analysis• robot kinematics