Development and Experimental Evaluation of Advanced Robotics - PowerPoint PPT Presentation

Development and Experimental Evaluation of Advanced Robotics Technologies Enabling On- Orbit Assembly Steve Ulrich Associate Professor Department of Mechanical and Aerospace Engineering Carleton University, Ottawa, ON Canada Robotic Technology for In-Space Assembly, IEEE International Conference on Robotics and Automation , 2019

OOA/OOS/ADR Missions Key Autonomous Proximity Operations Requirements Safely navigate to, visually inspect and capture target objects Manipulate and interact with objects of various shapes and masses Enabling Technologies Developed at Carleton University Computer Vision Path Planning Advanced Intelligent Control Systems Robotics Steve Ulrich, ICRA 2019 2 S. Ulrich, ACC, 8 Jul 2016

Outline Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics Steve Ulrich, ICRA 2019 3 S. Ulrich, ACC, 8 Jul 2016

Experimental Facility Spacecraft Proximity Operations Testbed (SPOT) 8’ x 12’ granite table (AAA -grade) . 0.3 x 0.3 x 0.3 m, 17 kg (wet mass) Modular aluminum structure 4500 psi compressed air tank 8 x 0.25 N air nozzles 1.2GHz 64-bit quad-core ARM Reaction wheel Computer vision sensors 3-link self-supporting robotic arm 8-camera PhaseSpace Motion Capture System Steve Ulrich, ICRA 2019 4 S. Ulrich, ACC, 8 Jul 2016

Outline Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics Steve Ulrich, ICRA 2019 5 S. Ulrich, ACC, 8 Jul 2016

Computer Vision Monocular Pose Estimation Challenge Develop unsupervised, real-time, pose estimation methods relying on a monocular IR camera system Point-based Solutions Improved initialization procedure for the iterative SoftPOSIT approach Improved non-iterative ePnP through projection sentinel Appearance-based Solution Enhanced PWP3D via image statistics . Shi, J.-F., Ulrich, S. , and Ruel , S., “Level - set and Image Statistics for Pose Estimation of Satellites,” 5th International Conference on Control, Dynamic Systems, and Robotics , Niagara Falls, Canada, 7-9 Jun, 2018. Best Paper Award. Steve Ulrich, ICRA 2019 6 S. Ulrich, ACC, 8 Jul 2016

Computer Vision Point-Based Solutions vs. Appearance-Based Solution Shi, J.-F., Ulrich, S. , and Ruel , S., “Level - set and Image Statistics for Pose Estimation of Satellites,” 5th International Conference on Control, Dynamic Systems, and Robotics , Niagara Falls, Canada, 7-9 Jun, 2018. Best Paper Award. Steve Ulrich, ICRA 2019 7 S. Ulrich, ACC, 8 Jul 2016

Computer Vision Envisat 6DOF Pose Estimation Shi, J.-F., Ulrich, S. , and Ruel , S., “Saliency Detection and 6 -DOF Pose Estimation of Monochromatic Monocular Spacecraft Images,” IEEE Transactions on Image Processing , under review. Steve Ulrich, ICRA 2019 8 S. Ulrich, ACC, 8 Jul 2016

Computer Vision Foreground Extraction Against Earth Background Shi, J.-F., Ulrich, S. , and Ruel , S., “An Unsupervised Method of Infrared Spacecraft Image Foreground Extraction,” AIAA Journal of Spacecraft and Rockets , under review. Steve Ulrich, ICRA 2019 9 S. Ulrich, ACC, 8 Jul 2016

Computer Vision Steve Ulrich, ICRA 2019 10 S. Ulrich, ACC, 8 Jul 2016

Outline Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics Steve Ulrich, ICRA 2019 11 S. Ulrich, ACC, 8 Jul 2016

Path Planning Trajectory Optimization Challenge Calculate an ideal trajectory that: (1) meets boundary conditions (2) avoids physical constraints (3) respects performance limits (4) minimizes the path length Solution Admissible Suboptimal Trajectory Optimizer (ASTRO) Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S. , Morrell, B. J., Gibbens , P., “Real -time Maneuver Optimization of Space-Based Robots in a Dynamic Environment: Theory and On- Orbit Experiments,” Acta Astronautica , Vol. 142, 2018, pp. 170-183. Steve Ulrich, ICRA 2019 12 S. Ulrich, ACC, 8 Jul 2016

Path Planning ASTRO – Static Obstacles Steve Ulrich, ICRA 2019 13 S. Ulrich, ACC, 8 Jul 2016

Path Planning ASTRO – SPHERES/ISS Validation Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S. , Morrell, B. J., Gibbens , P., “Real -time Maneuver Optimization of Space-Based Robots in a Dynamic Environment: Theory and On- Orbit Experiments,” Acta Astronautica , Vol. 142, 2018, pp. 170-183. Steve Ulrich, ICRA 2019 14 S. Ulrich, ACC, 8 Jul 2016

Path Planning ASTRO – Translating Obstacles Chamitoff, G. E., Saenz-Otero, A., Katz, J. G., Ulrich, S. , Morrell, B. J., Gibbens , P., “Real -time Maneuver Optimization of Space-Based Robots in a Dynamic Environment: Theory and On- Orbit Experiments,” Acta Astronautica , Vol. 142, 2018, pp. 170-183. Steve Ulrich, ICRA 2019 15 S. Ulrich, ACC, 8 Jul 2016

Path Planning ASTRO – Rotating and Translating Obstacles Shi, J.-F., Ulrich, S. , Chamitoff , G. E., Morrell, B. J., Allen, A., “Trajectory Optimization for Proximity Operations Around Tumbling Geometrical Constraints via Legendre Polynomials,” AIAA/AAS Astrodynamics Specialist Conference , Long Beach, CA, 12-15 Sep, 2016, AIAA Paper 2016-5270. Steve Ulrich, ICRA 2019 16 S. Ulrich, ACC, 8 Jul 2016

Path Planning ASTRO – Rotating and Translating Obstacles Shi, J.-F., Ulrich, S. , Chamitoff , G. E., Morrell, B. J., Allen, A., “Trajectory Optimization for Proximity Operations Around Tumbling Geometrical Constraints via Legendre Polynomials,” AIAA/AAS Astrodynamics Specialist Conference , Long Beach, CA, 12-15 Sep, 2016, AIAA Paper 2016-5270. Steve Ulrich, ICRA 2019 17 S. Ulrich, ACC, 8 Jul 2016

Path Planning Pose Tracking Challenge Motion synchronization, for robotic capture or rendezvous and docking Solution Formulate the control requirements as constraints, so that exact control inputs can be generated through the Udwadia-Kalaba framework. Pothen, A. A., and Ulrich, S. , “Close -Range Rendezvous of Multiple Chasers with a Moving Target using Udwadia- Kalaba Equation,” American Control Conference , Philadelphia, PA, 10-12 Jul, 2019. accepted. . Steve Ulrich, ICRA 2019 18 S. Ulrich, ACC, 8 Jul 2016

Path Planning Udwadia-Kalaba Pose Tracking and Docking Pothen, A. A., and Ulrich, S. , “Close -Range Rendezvous of Multiple Chasers with a Moving Target using Udwadia- Kalaba Equation,” American Control Conference , Philadelphia, PA, 10-12 Jul, 2019. accepted. Steve Ulrich, ICRA 2019 19 S. Ulrich, ACC, 8 Jul 2016

Outline Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics Steve Ulrich, ICRA 2019 20 S. Ulrich, ACC, 8 Jul 2016

Intelligent Control Systems Trajectory Tracking Control Under Parametric Uncertainties Challenge Closed-loop tracking control when mass properties of the chaser are uncertain. Solutions (1) Let the spacecraft learn to track a repetitive trajectory from past mistakes, via iterative learning control (2) Employ adaptive control techniques . Steve Ulrich, ICRA 2019 21 S. Ulrich, ACC, 8 Jul 2016

Intelligent Control Systems Iterative Learning Control Based on Confidence Level Ulrich, S. , and Hovell , K., “Iterative Learning Control of Spacecraft Proximity Operations Based on Confidence Level,” AIAA Guidance, Navigation, and Control Conference , Grapevine, TX, 9-13 Jan, 2017, AIAA Paper 2017-1046. Steve Ulrich, ICRA 2019 22 S. Ulrich, ACC, 8 Jul 2016

Intelligent Control Systems Simple Adaptive Control Nominal conditions PD (top) vs SAC (bottom) Ulrich, S. , Saenz-Otero, A., Barkana , I., “Passivity -Based Adaptive Control of Robotic Spacecraft for Proximity Operations under Uncertainties,” AIAA Journal of Guidance, Control, and Dynamics , Vol 39., No. 6, 2016, pp. 1444 – 1453. Steve Ulrich, ICRA 2019 23 S. Ulrich, ACC, 8 Jul 2016

Intelligent Control Systems Simple Adaptive Control Off-nominal conditions PD (top) vs SAC (bottom) Ulrich, S. , Saenz-Otero, A., Barkana , I., “Passivity -Based Adaptive Control of Robotic Spacecraft for Proximity Operations under Uncertainties,” AIAA Journal of Guidance, Control, and Dynamics , Vol 39., No. 6, 2016, pp. 1444 – 1453. Steve Ulrich, ICRA 2019 24 S. Ulrich, ACC, 8 Jul 2016

Outline Experimental Facility Computer Vision Path Planning Intelligent Control Systems Advanced Robotics Steve Ulrich, ICRA 2019 25 S. Ulrich, ACC, 8 Jul 2016

Advanced Robotics Nonlinear Optimal Robotic Arm Deployment Solution Pseudospectral-based nonlinear optimal trajectory planning Solved with TOMLAB GPOPS-1 DIDO Crain, A., and Ulrich, S. , “Experimental Validation of Pseudospectral-based Optimal Trajectory Planning for a Free- floating Robot,” AIAA Journal of Guidance, Control, and Dynamics , accepted/in press, 2019, doi: 1.G003528. Steve Ulrich, ICRA 2019 26 S. Ulrich, ACC, 8 Jul 2016

Advanced Robotics Crain, A., and Ulrich, S. , “Experimental Validation of Pseudospectral-based Optimal Trajectory Planning for a Free- floating Robot,” AIAA Journal of Guidance, Control, and Dynamics , accepted/in press, 2019, doi: 1.G003528. Steve Ulrich, ICRA 2019 27 S. Ulrich, ACC, 8 Jul 2016