Autonomous Assembly of Solar Array Modules by a Team of Robots

Metadata Updated: May 2, 2019

This project will investigate the hypothesis that Intelligent Precision Jigging Robots (IPJRs) and auxiliary robotic manipulators can autonomously perform the local level positioning and alignment required to enable precision assembly, disassembly, and reassembly of modular components. Key IPJR capabilities to be developed include: 1) high precision sensing and actuation; 2) state estimation using communication and simultaneous localization and mapping (SLAM); 3) robust failure detection and correction algorithms; and 4) high level artificial intelligence techniques in conjunction with low level control methods. This proposal will investigate the assembly of solar array modules to a backbone truss. The general process will use up to 6 IPJRs to grapple, precisely precision, and align a solar array module relative to a backbone truss and hold the module in place while the Lightweight Surface Manipulation System (LSMS) completes joining operations. FY16 Hardware benchmark will be a teleoperated assembly experiment that does not include simulated errors, disassembly, or reassembly. It will incorporate a SLAM algorithm for state estimation, but use high level commands given by human operators. Software benchmark will be a simulated assembly test with the following additional capabilities: disassembly by replacing step 4 with a bond cutting step, reassembly by reusing a previously disassembled solar array module, and error handling in spite of a variety of possible failures at each assembly step (such as IPJR grasp failure, IPJR deactivation, detachment of a solar panel, and failed sensors). Success will be defined by the fraction of completed trials.

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Public: This dataset is intended for public access and use. License: U.S. Government Work

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Metadata Created Date August 1, 2018
Metadata Updated Date May 2, 2019

Metadata Source

Harvested from NASA Data.json

Additional Metadata

Resource Type Dataset
Metadata Created Date August 1, 2018
Metadata Updated Date May 2, 2019
Publisher Space Technology Mission Directorate
Unique Identifier TECHPORT_40665
Maintainer Email
Public Access Level public
Bureau Code 026:00
Metadata Context
Schema Version
Catalog Describedby
Datagov Dedupe Retained 20190501230127
Harvest Object Id 1f0f12bf-f86c-4612-b097-a6e9c6b76df5
Harvest Source Id 39e4ad2a-47ca-4507-8258-852babd0fd99
Harvest Source Title NASA Data.json
Data First Published 2016-09-01T07:00:00.000Z
Homepage URL
Language en-US
Data Last Modified 2018-01-10T00:00:00.000Z
Program Code 026:027
Publisher Hierarchy National Aeronautics and Space Administration > Space Technology Mission Directorate
Source Datajson Identifier True
Source Hash 01be84b5a3c6abf8d08340193a3fc0f4538a04b1
Source Schema Version 1.1

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