Session
Poster Session 1
Location
Salt Palace Convention Center, Salt Lake City, UT
Abstract
The development of CubeSat-integrated robotic arms has expanded the possibilities for In-Orbit Assembly, Repair, and Servicing (OARS). A low-inertia robotic capture arm has been designed previously using remote actuation1. In the context of CubeSats, this allows heavy actuators to be placed in the base of the CubeSat and lightweight, slender links can be connected to form an arm. This design, depicted in Figure 1, allows for a robotic arm with a low moment of inertia.
The limited 6.5 mm link profile prevents the integration of high-resolution joint encoders, motivating the use of an alternative state estimation technique. This work estimates the manipulator's kinematic state directly from visual measurements.
Document Type
Event
Included in
Vision-Based Pose Estimation of a Low-Inertia Robotic Capture Arm
Salt Palace Convention Center, Salt Lake City, UT
The development of CubeSat-integrated robotic arms has expanded the possibilities for In-Orbit Assembly, Repair, and Servicing (OARS). A low-inertia robotic capture arm has been designed previously using remote actuation1. In the context of CubeSats, this allows heavy actuators to be placed in the base of the CubeSat and lightweight, slender links can be connected to form an arm. This design, depicted in Figure 1, allows for a robotic arm with a low moment of inertia.
The limited 6.5 mm link profile prevents the integration of high-resolution joint encoders, motivating the use of an alternative state estimation technique. This work estimates the manipulator's kinematic state directly from visual measurements.
