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2006
IEEE

System Design of Robots for Application to In-Space Assembly

9 years 5 months ago
System Design of Robots for Application to In-Space Assembly
- This paper presents the design of an experimental system for assembly applications in space. The prototypical application is the assembly of mechanical trusses. The system used an air-hockey table to simulate a frictionless twodimensional space. Assembly robots fly on the surface finding, gathering and assembling the relevant parts to perform the construction. The system design involved building the FIMER Robots, the test bed, the sensing system for position and velocity feedback and the control scheme. This paper describes the hardware and software used in the various sub-systems and includes calibrations and measurements and the results of experiments.
Harshit Suri, Peter M. Will, Wei-Min Shen
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Harshit Suri, Peter M. Will, Wei-Min Shen
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