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Underwater Demonstrator for Autonomous In-Orbit Assembly of Large Structures

Christian Ernst Siegfried Koch; Marko Jankovic; Sankaranarayanan Natarajan; Shubham Vyas; Wiebke Brinkmann; Vincent Bissonnette; Thierry Germa; Alessio Turetta; Frank Kirchner
In: Robotics and Automation in Space 2020. International Symposium on Systems, Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS-2020), October 19-23, Online, Universities Space Research Association (USRA), 10/2020.


The PULSAR project aims to develop key-technologies to enable the autonomous assembly of large structures in space. Similar to industrial appli-cations, the assembly process relies on robotic sys-tems capable of assembling modular elements to form a complex structure. However, the in-space assembly provides exceptional challenges necessitat-ing innovation in fields such as free-floating manipu-lation and autonomous robotics. This paper provides details on the PULSAR project and, more specifical-ly, on a hardware-in-the-loop demonstrator dLSAF-FE, developed to show the assembly process of a large telescope mirror in a micro-gravity environ-ment.


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