Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications
Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria
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. Moti-vated 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.
BibTeX
@inproceedings{icra2023_designandvalidat,
title = {Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications},
author = {Enrico Mingo Hoffman and Arturo Laurenzi and Francesco Ruscelli and Luca Rossini and Lorenzo Baccelliere and Davide Antonucci and Alessio Margan and Paolo Guria and Marco Migliorini and Stefano Cordasco and Gennaro Raiola and Luca Muratore and Joaquín Estremera Rodrigo and Andrea Rusconi and Guido Sangiovanni and Nikos G. Tsagarakis},
booktitle = {ICRA 2023},
year = {2023}
}