Autonomous Robots for Space: Trajectory Learning and Adaptation Using Imitation.

ABSTRACT: This paper adds on to the on-going efforts to provide more autonomy to space robots and introduces the concept of programming by demonstration or imitation learning for trajectory planning of manipulators on free-floating spacecraft. A redundant 7-DoF robotic arm is mounted on small spacecraft dedicated for debris removal, on-orbit servicing and assembly, autonomous and rendezvous docking. The motion of robot (or manipulator) arm induces reaction forces on the spacecraft and hence its attitude changes prompting the Attitude Determination and Control System (ADCS) to take large corrective action. The method introduced here is capable of finding the trajectory that minimizes the attitudinal changes thereby reducing the load on ADCS. One of the critical elements in spacecraft trajectory plann

SUBMITTER: Ashith Shyam RB 

PROVIDER: S-EPMC8130759 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature