Session
Session 3: Educational Programs I
Abstract
The U.S. Naval Academy (USNA) is looking to advance autonomous assembly with a next-generation Intelligent Space Assembly Robot (ISAR) system, which seeks to demonstrate semi-autonomous robotic assembly capabilities on orbit. ISAR is a small size form, low cost, 3U CubeSat-class satellite intending to mature robotic assembly capabilities. It is comprised of two key subsystems: twin 60 cm seven degree of freedom robotic arms, RSat, and the sensors which utilize one 3D camera and two 2D cameras to increase spatial awareness and aid real-time responsible maneuvering in a dynamic space environment. RSat, developed by the Naval Academy, is an existing set of robotic arms housed in a 3U CubeSat. RSat serves as the foundation for the next-generation ISAR program and will be launched as a free-flyer mission in 2018 as part of NASA's ElaNa XIX launch. On-orbit demonstrations of ISAR will test the ability to perform a test structure assembly with robotic arm actuation at a fraction of size and cost of previous space robotic platforms. This paper will present an overview of the ISAR system, outline design, operation, and demonstration modifications for the on orbit experiment and present a novel concept for autonomous operations.
Advancing On-Orbit Assembly With ISAR
The U.S. Naval Academy (USNA) is looking to advance autonomous assembly with a next-generation Intelligent Space Assembly Robot (ISAR) system, which seeks to demonstrate semi-autonomous robotic assembly capabilities on orbit. ISAR is a small size form, low cost, 3U CubeSat-class satellite intending to mature robotic assembly capabilities. It is comprised of two key subsystems: twin 60 cm seven degree of freedom robotic arms, RSat, and the sensors which utilize one 3D camera and two 2D cameras to increase spatial awareness and aid real-time responsible maneuvering in a dynamic space environment. RSat, developed by the Naval Academy, is an existing set of robotic arms housed in a 3U CubeSat. RSat serves as the foundation for the next-generation ISAR program and will be launched as a free-flyer mission in 2018 as part of NASA's ElaNa XIX launch. On-orbit demonstrations of ISAR will test the ability to perform a test structure assembly with robotic arm actuation at a fraction of size and cost of previous space robotic platforms. This paper will present an overview of the ISAR system, outline design, operation, and demonstration modifications for the on orbit experiment and present a novel concept for autonomous operations.
