Advances in Robotic In-Orbit Assembly of Large Aperture Space Telescopes

Nair, Manu H., Saaj, Mini, Adlen, Sam , Esfahani, Amir G, and Eckersley, Steve (2020) Advances in Robotic In-Orbit Assembly of Large Aperture Space Telescopes. In: 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020), 18-20 October 2020, Pasadena, US.


Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


Modular Large Aperture Space Telescopes (LAST) hold the key to future astronomical missions in search of the origin of the cosmos. Robotics and Autonomous Systems technology would be required to meet the challenges associated with the assembly of such high value infrastructure in orbit. In this paper an End-Over-End walking robot is selected to assemble a 25m LAST. The dynamical model, control architecture and gait pattern of the E-Walker are discussed. The key mission requirements are stated along with the strategies for scheduling the assembly process. A mission concept of operations (ConOps) is proposed for assembling the 25m LAST. Simulation results show the precise trajectory tracking of the EWalker for the chosen mission scenario.

Keywords:In-Orbit Assembly, Large-Aperture Space Telescope, End-Over-End Walking Robot;, Precise Manipulation, Gait Pattern, Mission ConOps
Subjects:H Engineering > H643 Satellite Engineering
H Engineering > H671 Robotics
Divisions:College of Science > School of Engineering
ID Code:49489
Deposited On:23 May 2022 09:20

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