Keywords

Robotics, Space Robotics, Aerospace Engineering, Mechanical Engineering, ROS, Digital Twin

Abstract

The control of mobile manipulators presents a unique challenge as the complexity of motion increases. ROS 2 provides the ability to create a digital twin of a physical system and control both simultaneously. This can be applied to mobile manipulators, allowing us to plan out complex movements and then simulate them virtually or physically. The Space ROS software is adapted for our Rapid Orbital Motion Emulator which is a 6 Degree of Freedom manipulator on top of a holonomic mobile base platform. Our custom Omni wheel controller running within the ROS 2 control package handles the kinematics for the base, while the MoveIt 2 software is used for the manipulator. The dynamics of the system is handled either by the Gazebo simulation environment or by the physical robot. This system can be used for modeling complex paths and planning out coupled motion as the base and arm can be planned to move independently or simultaneously. Some examples of applications are in-orbit servicing missions or docking operations as both require multiple moving components which the system can accommodate.

Completion Date

2025

Semester

Fall

Committee Chair

Elgohary, Tarek

Degree

Master of Science in Aerospace Engineering (M.S.A.E.)

College

College of Engineering and Computer Science

Department

Mechanical and Aerospace Engineering

Format

PDF

Identifier

DP0029808

Document Type

Thesis

Campus Location

Orlando (Main) Campus

Download

Share

COinS