Simulation Environment for Modeling and Testing of Autonomous Assembly in Space for Multiple Robotic Arms
Multi-arm robotic assembly in space is an increasingly popular research topic as robotic arms can be used to decrease repair costs. We propose a simulation framework to model different scenarios of multi-arm robotic assembly in space with an ever-changing harsh environment. Simulation is a valuable, viable, and low-cost option for testing the developed algorithms without the need to re-create the orbital conditions in an elaborate and expensive laboratory environment. The proposed simulation framework uses the open-source tools: ROS Kinetic and Gazebo 7. We propose a system where robotic arms coordinate and collaborate to drive a screw into a plate autonomously. A move-able robot with a 3D sensing camera maps the environment and, using image recognition and localization, notifies the arms of obstacles and the locations of the screw and plate models. The arms calculate a collision-free path to the model, grasp the object, and return to a shared location.