Browsing by Author "Cotrina de los Mozos, Irene"

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    Design and control of a 7-degree-of-freedom symmetric manipulator module for in-orbit operations
    (IEEE, 2024-01-01) Cotrina de los Mozos, Irene; Tang, Gilbert
    This paper proposes a modular redesign of multi-armed robotic systems with application to in-orbit operations. The manipulators that the robot includes are made independent and the connection to the central body is achieved through additional standard interfaces (SI). This grants the system the ability to self-repair through self-reconfiguration. The arms are also upgraded, giving rise to symmetrical manipulators of 7 degrees of freedom (DOF) capable of locomoting by themselves. The models of the new manipulator design are presented along with its nominal workspace. In addition to this, a novel algorithm for the control of the arm is developed based on the F ABRIK approach. This programme is tested using diverse target poses as input and the consequent results are shown too. All the models and sketches were created in SolidWorks; the algorithm was coded in MATLAB.
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    A ROS-based simulation and control framework for in-orbit multi-arm robot assembly operations
    (European Space Agency (ESA), 2023-10-20) Bhadani, Saksham; Dillikar, Sairaj R.; Pradhan, Omkar N.; Cotrina de los Mozos, Irene; Felicetti, Leonard; Upadhyay, Saurabh; Tang, Gilbert
    This paper develops a simulation and control framework for a multi-arm robot performing in-orbit assembly. The framework considers the robot locomotion on the assembled structure, the assembly planning, and multi-arm control. An inchworm motion is mimicked using a sequential docking approach to achieve locomotion. An RRT* based approach is implemented to complete the sequential assembly as well as the locomotion of MARIO across the structure. A semi-centralised controller model is used to control the robotic arms for these operations. The architecture uses MoveIt! libraries, Gazebo simulator and Python to simulate the desired locomotion and assembly tasks. The simulation results validate the viability of the developed framework.