Toward In-Situ Assembly of a Large Space Telescope - Máximo A. Roa Institute of Robotics and Mechatronics German Aerospace Center - DLR - WVRTC
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Toward In-Situ Assembly of a Large Space Telescope Máximo A. Roa Institute of Robotics and Mechatronics German Aerospace Center - DLR IROS Workshop “Robotic In-Situ Servicing, Assembly and Manufacturing” October 25, 2020 Cyberspace
Factory of the future
https://factory-of-the-future.dlr.de/
Factory of the future
Reconfigurable Workcell Collaborative Mobile Manipulation Autonomous Assembly
Workbench
Assembling one-of-a-kind
https://www.youtube.com/watch?v=2jYhdmk-pMg [Nottensteiner et al., ISR’16]
Assembling one-of-a-kind
[Nottensteiner et al., ISR’16]
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
Classification concept
Exemplary Skill Sequence for the insert_slot_nut Task
Start
PickUpGroupFromStorage PlacePegInHole PickUpGroupFromStorage
Finish
PlaceSlotNutIntoProfile MoveSlotNutIntoProfile PickUpAndPlaceGroupInAss
emblyFixture.Skill Robustness through Sensor-Based Execution
PlaceObject PlacePegInHole PickUpScrewSkill Library
PickUpObject MovePlanned PegInHole PickUpObject PlaceSlotNut MoveSlotNut
PlaceObject PickUpObject PlaceObject PickUpObject PickUpScrew PlaceScrewLimitations
limited manipulability
specialized tools
limited workspace
specialized fixturesAssembling one-of-a-kind in a more flexible way
[Rodriguez et al., RA-L 19]Cosmological questions
Scientific questions:
• How did we come to be?
• Are Earth-like planets common?
• Are we alone?
• …Telescopes
[cmglee]Space telescopes
[Roa et. al., ASTRA 2017]Foldable structures
James Webb Space Telescope
[ESA/NASA]In-space assembly using robots
[Lee et al., 2016]
[Vaughan, 1981]Required technologies
• High maturity:
➢ Launch vehicles
➢ Mirror segment fabrication
• Medium maturity:
➢ Segmented mirror wavefront and jitter control
➢ Robot hardware (arms)
• Low maturity
➢ Autonomous assembly
➢ In-space assemblyPULSAR: Prototype of an Ultra-Large Structure Assembly Robot
www.h2020-pulsar.eu
[Rognant et al., EUCASS 2019]PULSAR: Prototype of an Ultra-Large Structure Assembly Robot
dPAMT, demonstrator of Precise Assembly of
Mirror Tiles (physical)
Requirements:
-Assembly of min. 5 mirror tiles
-Functional demonstration of mirror
(adapt optical surfaces)
Challenges:
-1G conditions
-Standard interconnections between elements
-Assembly, grasp, motion planning
-Perception, visual servoingPULSAR: Prototype of an Ultra-Large Structure Assembly Robot
dPAMT
Active tile
Passive tile SIROM
HOTDOCKinterface
interface
Focal point
Fixed tile
BasedPAMT - Components
Torque-controlled robot Visual recognition/servoing
(KUKA iiwa)
SMT container SMT (Segmented Mirror Tile)
Standard Interface (HOTDOCK)
Fixed SMT
Mobile platform
(KUKA KMR) Assembly areadPAMT - Assembly planner
Semantic constraints Optimization-based path planner
[Martinez et al., Aeroconf 2021]dPAMT - Assembly planner
Feasible sequences
Exploration and pruning
[Martinez et al., Aeroconf 2021]dPAMT - Initial verification
Planning stage Trajectory verification
[Martinez et al., Aeroconf 2021]dPAMT - Current status…
Segmented Mirror Tile, SMT
HOTDOCK Standard Interface
Robotic system
[Letier et al., IAC 2020]Keypoints
⚫ Combination of high/medium/low level planning tools allow the
automatic generation of complete workflows
⚫ Active compliance is a key factor for assembly
⚫ Space-based assembly (of telescopes) is our next technological
application
- Ground-based demonstrator as first step
- Multiple challenges: AOCS, robotic manipulator, autonomous
assembly with standard interfaces, modularity, robustness,…
- Final demonstration coming on Spring 2021!Acknowledgments
DLR Team:
Korbinian Nottensteiner Ismael Rodriguez
Juan Jose Martinez Jean-Pascal Lutze
Timo Bachmann Andreas Stemmer
Gerhard Grunwald Peter Lehner
dPAMT partners:
EU projects:
Interested on a joint research project?
maximo.roa@dlr.de
www.robotic.dlr.de/maximo.roaReferences
⚫ Hybrid Planning System for In-Space Robotic Assembly of Telescopes using Segmented Mirror Tiles. J.
Martinez, I. Rodriguez, K. Nottensteiner, J. Lutze, P. Lehner, M.A. Roa. IEEE Aerospace Conference -
AEROCONF 2021 (under review)
⚫ HOTDOCK: Design and Validation of a New Generation of Standard Robotic Interface for On-Orbit Servicing. P.
Letier, T. Siedel, M. Deremetz, E. Pavlovskis, B. Lietaer, K. Nottensteiner, M.A. Roa, J. Sanchez, J. Corella, J.
Gancet. International Astronautical Congress – IAC 2020
⚫ Iteratively refined feasibility checks in robotic assembly sequence planning. I. Rodriguez, K. Nottensteiner, D.
Leidner, M. Kassecker, F. Stulp, A. Albu-Schäffer. IEEE Robotics and Automation Letters, 2019
⚫ Autonomous Assembly of Large Structures in Space: A Technology Review. M. Rognant, C. Cumer, J.M. Biannic,
M.A. Roa, A. Verhaeghe, V. Bissonnette. European Conference for Aeronautics and Aerospace Sciences –
EUCASS 2019
⚫ Robotic Technologies for In-Space Assembly Operations. M.A. Roa, K. Nottensteiner, A. Wedler, G. Grunwald.
Symposium on Advanced Space Technologies in Robotics and Automation – ASTRA 2017
⚫ A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution.
K. Nottensteiner, T. Bodenmüller, M. Kassecker, M. A. Roa, A. Stemmer, D. Seidel, U. Thomas. International
Symposium of Robotics – ISR 2016You can also read
