Space 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.


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    Title :

    Robotic Software Architecture for In-Space Outfitting Operations


    Contributors:
    Amy Quartaro (author) / John Cooper (author) / Erik Komendera (author)

    Conference:

    AIAA ASCEND ; 2023 ; Las Vegas, NV, US


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




    Robotic Software Architecture for In-Space Outfitting Operations

    Quartaro, Amy / Cooper, John R. / Komendera, Erik E. | AIAA | 2023


    Robotic Software Architecture for in-Space Outfitting Operations

    Amy M Quartaro / John R Cooper / Erik E Komendera | NTRS


    Robotic Software Architecture for In-Space Outfitting Operations

    A. Quartaro / J. Cooper / E. Komendera | NTIS | 2023


    Robotic Software Architecture for in-Space Outfitting Operations

    A. M. Quartaro / J. R. Cooper / E. E. Komendera | NTIS | 2023


    Outfitting for space

    Brouillet, A. O. | NTRS | 1978