Grant: Research Tools and Instruments

Overview: This experimental program aims to support the research of dynamics and control of autonomous on-orbit operation using a dual-arm space robot on a free-floating spacecraft by building a ground testbed. The testbed will provide a cost-effective and low-risk experimental environment to simulate the dual-arm robot operation in microgravity instead of cost-prohibitive and high-risk on-orbit testing. Our primary objectives are to enhance our understanding of the dynamics of robotic capturing and manipulation of non-cooperative targets in microgravity. The proposed research can also be applied to active debris removal by space robots. The technology can prevent potential collisions between debris and operational satellites and supports global sustainability efforts aligned with the UN's sustainable development goals, e.g., SDG 12 & 16. Furthermore, the developed technology can be used for on-orbit services. A typical example is NASA's Lunar Gateway Project, where Canada is contributing a dual-arm space robot to the Lunar Gateway station, which employs two AI-enhanced autonomous robotic arms. Proposed Equipment Details: The proposed ground testbed will have two 6DOF collaborative robotic arms, each including a gripper as the end-effector. Complementing these arms are advanced computer vision systems designed for autonomous tracking and calculating the pose of non-cooperative targets. A unique feature of the collaborative robotic arm is its tactile sensitivity; it halts motion upon any touch detection, whether with a target or its twin, without additional sensors. This sensitivity also enables active gravity compensation, allowing us to emulate microgravity on Earth without physically balancing gravity forces acting on the arms. This environment would provide a faithful representation of the dynamics of a dual-arm robot on a free-floating spacecraft, thereby capturing the dynamic interactions occurring both pre and post-capture of the target in space. This rigorous experimental framework will further our understanding of the dynamics and associated control problems of dual-arm space robots in microgravity and enhance the dexterity of cooperative dual-arm robotic control. Training and Inclusion: The testbed is crucial in offering high-quality and practical training experiences for HQPs by closely resembling space missions. It is anticipated to train HQPs with skills from multibody dynamics to AI and machine-learning-based control, soft-contact dynamics, control theory, electronic instrumentation, programming, data processing, and testing procedure implementation. Such a comprehensive skill set will undeniably make our HQPs more competitive in the job market. Furthermore, we are committed to an inclusive working environment; all HQPs will undergo Equity, Diversity, and Inclusion training and engage in outreach, aiming to attract and retain participants from underrepresented groups into the study of robotics and space engineering.