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. Motivated 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.
翻译:这项工作介绍了欧洲航天局提议的多臂可移动操纵器(MARM)的计算设计和验证,这是一个用于空间应用的三凌机器人,特别是MIRROR(即多臂安装机器人准备ORUs和反射器)的使用情景,提出了综合计算设计和验证管道,目的是比较不同的肢体设计,并确保有效的肢体候选人能够使MARM完成所需的复杂遥控任务。受下述任务复杂性的驱使:运动可达性、(自我)循环避免、接触扳手限制和影响地球实验的发动机极速极限,这项工作利用多种最先进的规划和控制方法协助机器人的设计与验证,其中包括以抽样为基础对各种部件进行规划、非线性轨迹优化和反向动态计算四方程序。最后,我们介绍了已经达到的MARM设计和通过一套实验室实验对硬件验证进行初步测试的情况。