Development of a Linear Guide-Rail Testbed for Physically Emulating ISAM Operations
In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mo- bility, and expandability of existing and future space assets. Serial robotic ma- nipulators are particularly vital in accomplishing ISAM operations, however, the complex perturbation forces and motions associated with movement of a robotic arm on a free-flying satellite presents a complex controls problem requiring addi- tional study.
Evidence notes
- Experiments use UR3e as the physical evaluation platform.
- The reported results provide an independent evaluation on UR3e hardware.
Company context
Universal Robots develops collaborative robot arms for flexible automation in industrial and commercial environments.