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Robotic Software Architecture for In-Space Outfitting OperationsSpace exploration is expanding into longer missions, larger payloads, and more complex operations. To make these larger scale missions a reality, it is necessary to perform assembly, construction, and maintenance tasks via a robotic workforce in addition to crewed operations. While there has been significant research into in-space assembly and manufacturing, it is primarily focused on rigid structural elements, such as ISRU printing or truss construction. Outfitting tasks, such as cable routing, are a critical step to a fully operational in-space facility. This paper seeks to provide a reduced order state model and an optimized combination of state-of-the-art robotics algorithms applied to a cable routing scenario. Simulation results are expected to advance approaches to online autonomous robotic manipulation of non-rigid elements.
Document ID
20230014895
Acquisition Source
Langley Research Center
Document Type
Presentation
Authors
Amy Quartaro
(Virginia Tech Blacksburg, Virginia, United States)
John Cooper
(Langley Research Center Hampton, Virginia, United States)
Erik Komendera
(Virginia Tech Blacksburg, Virginia, United States)
Date Acquired
October 16, 2023
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Computer Programming and Software
Meeting Information
Meeting: AIAA ASCEND
Location: Las Vegas, NV
Country: US
Start Date: October 23, 2023
End Date: October 25, 2023
Sponsors: American Institute of Aeronautics and Astronautics
Funding Number(s)
CONTRACT_GRANT: 80NSSC21K1286
WBS: 969115.04.35.23
Distribution Limits
Public
Copyright
Use by or on behalf of the US Gov. Permitted.
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