Uncertainty in Servicing and Assembly Tasks for Space Robotic Manipulators

John R Cooper; David L Bacher; Joshua N Moser

NASA NTRS · 20230010075

Uncertainty in Servicing and Assembly Tasks for Space Robotic Manipulators

John R Cooper·David L Bacher·Joshua N Moser

Abstract

This presentation will discuss a subset of the sources of uncertainty that impact autonomous in-space servicing, assembly, and manufacturing missions. These include robotic manipulator modeling uncertainties in both kinematics and dynamics, perception error associated machine learning models for pose estimation, and sensor noise. Mitigation strategies will be discussed including the incorporation of capture envelopes in the design of robotic tools and selection of robot goal poses to minimize end-effector sensitivity in manipulators with redundant degrees of freedom.

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John R Cooper, David L Bacher, Joshua N Moser. Uncertainty in Servicing and Assembly Tasks for Space Robotic Manipulators. https://ntrs.nasa.gov/citations/20230010075

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