Localization Performance Improvement of a Low-Resolution Robotic System using an Electro-Permanent Magnetic Interface and an Ensemble Kalman Filter

As the United States is on the cusp of returning astronauts to the Moon, it becomes increasingly apparent that the assembly of structures in space will have to rely upon robots to perform the construction process. With a focus on sustaining a presence on the Moon's surface in such a harsh and unforgiving environment, demonstrating the robustness of autonomous assembly and capabilities of robotic manipulators is necessary. Current robotic assembly on Earth consists mainly of inspection or highly controlled environments, and always with a human in the loop to step in and fix issues if a problem occurs. To remove the human element, the robot system then must account for safety as well. Thus, system risk can easily overwhelm project costs. This thesis proposes a combination of hardware and state estimation solutions to improve the feasibility of low-fidelity and low-resolution robots for precision assembly tasks. Doing so reduces the risk to mission success, as the hardware becomes easier to replace or repair. The hardware modifications implement an electro-permanent magnet interface with alignment features to reduce the fidelity needed for the robot end effector. On the state estimation side, an Ensemble Kalman Filter is implemented, along with a scaling system to prevent FASER Lab hardware from becoming stuck due to hardware limitations. Overall, the three modifications improved the test robot's autonomous convergence error by 98.5%, bettering the system sufficiently to make an autonomous assembly process feasible.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2022

Author dc:creator

• Martin, Jacob Ryan

Chair dc:contributor.committeechair

• Komendera, Erik

Committee members dc:contributor.committeemember

• Southward, Steve C.
• Asbeck, Alan T.

• In-space Assembly
• Autonomous Robotics
• Low-Resolution

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Language dc:language.iso

en

Dc Identifier Other

vt_gsexam:35670

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/112183