Assembling Solar Panels by Dual Robot Arms Towards Full Autonomous Lunar Base Construction
Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential infrastructure such as solar power generating towers. Similar to the construction of the International Space Station (ISS), shipping necessary components via modules and assembling them in situ should be a practical scenario. In this context, this paper focuses on the integration of vision, control, and hardware systems within an autonomous sequence for a dual-arm robot system. We explore a perception and control pipeline specifically designed for assembling solar panel modules, one of the benchmark tasks. Ad hoc hardware was designed and tested in real-world experiments. A mock-up of modular solar panels and active-passive connectors are employed, with the control of this grappling fixture integrated into the proposed pipeline. The successful implementation of our method demonstrates that the two robot manipulators can effectively connect arbitrarily placed panels, highlighting the seamless integration of vision, control, and hardware systems in complex space applications.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
SunDown: Model-driven Per-Panel Solar Anomaly Detection for Residential Arrays
There has been significant growth in both utility-scale and residential-scale solar installations in recent years, driven by rapid technology improvements and falling prices. Unlike utility-scale solar farms that are pro…
Anomaly ClassificationAnomaly DetectionFault DetectionMonitoring spatial sustainable development: Semi-automated analysis of satellite and aerial images for energy transition and sustainability indicators
Solar panels are installed by a large and growing number of households due to the convenience of having cheap and renewable energy to power house appliances. In contrast to other energy sources solar installations are di…
Origami Inspired Solar Panel Design
The goal of this paper was to take a flat solar panel and make cuts on the panel to make smaller, but still viable solar panels. These smaller solar panels could then be arranged in a tree-like design. The hope was that …
Evolutionary AlgorithmsA Hybrid Ensemble Learning Framework for Image-Based Solar Panel Classification
The installation of solar energy systems is on the rise, and therefore, appropriate maintenance techniques are required to be used in order to maintain maximum performance levels. One of the major challenges is the autom…
Ensemble LearningSPF-Net: Solar panel fault detection using U-Net based deep learning image classification
The detection of faults in solar panels is essential for generating increased amounts of renewable green energy. Solar panels degrade over time due to physical damage, dust, or other faults. Numerous studies have been …
Deep LearningFault Detectionimage-classificationImage Classification+2