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Center Innovation Fund: LaRC CIF

Autonomous Assembly of Solar Array Modules by a Team of Robots – FY18

Completed Technology Project

Project Introduction

Autonomous Assembly of Solar Array Modules by a Team of Robots – FY18
Develop, prototype, and test assembly system: Operates in many microgravity and surface gravity scenarios StackedIPJRs for high precision, stiffness, payload. Genderless grippers: self-assembly and swappable end-effectors. Develop autonomy methods for improved robustness and reliability: State estimation for assembly workspace and system. Supervised learning for error detection and recognition. Reinforcement learning to plan servicing and repair strategies. Demonstrate surface assembly scenario: Assembly of representative components with constraints. Surface operations under Earth gravity testable in laboratory without offloading equipment. More »

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