Motion Planning, Dynamics and Control of Half Humanoid, Dual Arm Space Robot for Space Application.
Patel, Shreyas Maheshkumar
Motion Planning, Dynamics and Control of Half Humanoid, Dual Arm Space Robot for Space Application. by Shreyas Maheshkumar Patel - IIT Jodhpur Department of Mechanical Engineering 2020 - xi,44p. HB
Future’s space explorations will heavily depend on autonomous robots. The robots in such missions will increase ease of execution, reliability and safety. On-Orbit services will require a manipulator externally connected to the space shuttle whereas humanoid type robots for operations inside the space shuttle. This thesis aims to study motion planning, dynamics and control of half humanoid operating inside a satellite and satellite mounted manipulator for on-orbit services.The technological advancements in the field of robotics over the last decade have significantly improved the quality of human life in terms of achieving critical tasks with the development of human-like robots. In an attempt to assist humans in achieving complex tasks either in known or unknown environments,humanoid robots play an important role with reduced risk inclusion. Humanoid robots are designed to emulate the aspects of human behaviour to accomplish some tasks. A half humanoid robot fixed at one position inside a space station can perform many tasks as switch panel operation, communication with gestures as human, replacement of cylinders etc. Dynamic study for such cases is important. To execute a particular task robot must move through some predefined point in a clustered environment. Motion planning for such a task is challenging and needs to be investigated. In some cases, a humanoid has to move an object from one place to another place; during this, the study of closed-loop dynamics is also required. On the other hand, robots used for on-orbit services assist astronauts outside the space station. A satellite mounted robotic space system is used to carry out operations like capture, berthing, docking or move the object at some other space requiring dynamics and motion planning studies.In this work, the first part presents dynamics studies of a half humanoid robot for open-loop and closed-loop configurations. Here, motion planning strategies presented for the half humanoid for its operation inside the satellite. Motion planning of the robot is divided into two parts: first continuous path planning has been done which is required to perform basic communication gestures. Then a goal biased RRT* algorithm is applied to motion planning in a constrained environment to avoid obstacles. The second part of the study presents dynamic analyses of satellite mounted dual-arm space robots. Studies of dynamics and reaction-less manipulation have been carried out for satellite mounted dual-arm space robots in joint space and task space toward on-orbit services.
Dual Arm Space Robot
MTech Theses
Department of Mechanical Engineering
621.83 / P272M
Motion Planning, Dynamics and Control of Half Humanoid, Dual Arm Space Robot for Space Application. by Shreyas Maheshkumar Patel - IIT Jodhpur Department of Mechanical Engineering 2020 - xi,44p. HB
Future’s space explorations will heavily depend on autonomous robots. The robots in such missions will increase ease of execution, reliability and safety. On-Orbit services will require a manipulator externally connected to the space shuttle whereas humanoid type robots for operations inside the space shuttle. This thesis aims to study motion planning, dynamics and control of half humanoid operating inside a satellite and satellite mounted manipulator for on-orbit services.The technological advancements in the field of robotics over the last decade have significantly improved the quality of human life in terms of achieving critical tasks with the development of human-like robots. In an attempt to assist humans in achieving complex tasks either in known or unknown environments,humanoid robots play an important role with reduced risk inclusion. Humanoid robots are designed to emulate the aspects of human behaviour to accomplish some tasks. A half humanoid robot fixed at one position inside a space station can perform many tasks as switch panel operation, communication with gestures as human, replacement of cylinders etc. Dynamic study for such cases is important. To execute a particular task robot must move through some predefined point in a clustered environment. Motion planning for such a task is challenging and needs to be investigated. In some cases, a humanoid has to move an object from one place to another place; during this, the study of closed-loop dynamics is also required. On the other hand, robots used for on-orbit services assist astronauts outside the space station. A satellite mounted robotic space system is used to carry out operations like capture, berthing, docking or move the object at some other space requiring dynamics and motion planning studies.In this work, the first part presents dynamics studies of a half humanoid robot for open-loop and closed-loop configurations. Here, motion planning strategies presented for the half humanoid for its operation inside the satellite. Motion planning of the robot is divided into two parts: first continuous path planning has been done which is required to perform basic communication gestures. Then a goal biased RRT* algorithm is applied to motion planning in a constrained environment to avoid obstacles. The second part of the study presents dynamic analyses of satellite mounted dual-arm space robots. Studies of dynamics and reaction-less manipulation have been carried out for satellite mounted dual-arm space robots in joint space and task space toward on-orbit services.
Dual Arm Space Robot
MTech Theses
Department of Mechanical Engineering
621.83 / P272M