Motion Planning and Control of Multi-Arm Robot for In-Orbit Operations

A ROS-Gazebo based simulation showcasing the motion planning and control framework for a multi-manipulator system for in-orbit operations.

Developed as part of MSc thesis titled "Motion Planning and Control of Multi-Arm Robot for In-Orbit Operations" by Sairaj R Dillikar (MSc Robotics 2022-23, Cranfield University, United Kingdom)

Simulation videos of this project can be accessed by clicking here.

Table of Contents

• Build the Package
  • Requirements
  • Modifications to be made in the SRS Spawning Package
• Launch the Simulation
  • Execute Serial (a) Locomotion
  • Execute Serial (b) Locomotion
  • Execute Parallel Locomotion
  • Execute Combined Locomotion (both Serial and Parallel)
• Citation
  • Repository
• Contact

Build the Package

mkdir -p mario_mpcc_ws/src
cd mario_mpcc_ws/src
catkin_init_workspace
git clone https://github.com/sairajdillikar/Motion_Planning_and_Control_of_Multi_Arm_Robot_for_In_Orbit_Operations.git
cd ..
catkin build

Requirements

• Ubuntu 2020.04
• ROS Noetic Ninjemys 8
• Gazebo v11.11
• Moveit! 1.0 for ROS Neotic
  • Binary Install
  • Source Build: Linux
  • Moveit Visual Tools
• Python 3.7
• ros_link_attacher Plugin (already included within this repository (/gazebo_ros_link_attacher))

Modifications to be made in the SRS Spawning Package

Before launching the gazebo world, navigate through the packages to find the src/simplified_df_bot_description/src/exe_serial_coordmotion_1.cpp file and make sure to add your PC $USERNAME within the <uri> tag. Same goes for the src/exe_serial_coordmotion_2.cpp, src/exe_parallel_coordmotion_1.cpp, and src/exe_combined_coordmotion_1.cpp

<uri>/home/ $USERNAME /mario_mpcc_ws/src/srs_modules_description/meshes/base_link.stl</uri>

Launch the Simulation

Before launching a simulation, any new terminal must be always sourced with,

cd mario_mpcc_ws
source devel/setup.bash

Use the above two commands when using a new terminal, as executing simulation for each different locomotion requires only two main commands:

1. For launching the simulation (roslaunch).
2. To run the script with its respective control algorithm (rosrun).

Execute Serial (a) Locomotion (Lateral Movement):

Terminal-1:

roslaunch simplified_df_bot_description execute_serial_locomotion.launch

Terminal-2:

rosrun simplified_df_bot_description exe_serial_coordmotion_1

Execute Serial (b) Locomotion (Lateral Movement):

Terminal-1:

roslaunch simplified_df_bot_description execute_serial_locomotion.launch

Terminal-2:

rosrun simplified_df_bot_description exe_serial_coordmotion_2

Execute Parallel Locomotion (Vertical Movement):

Terminal-1:

roslaunch simplified_df_bot_description execute_parallel_locomotion.launch

Terminal-2:

rosrun simplified_df_bot_description exe_parallel_coordmotion_1

Execute Combined Locomotion (both Serial/Lateral and Parallel/Vertical):

Terminal-1:

roslaunch simplified_df_bot_description execute_combined_locomotion.launch

Terminal-2:

rosrun simplified_df_bot_description exe_combined_coordmotion_1

Citation

If you use the Motion Planning architecture as part of a publication or utilise in a project development, please use the Bibtex below as a citation,

Repository:

@misc{motion_planning_mario_git,
  author       = {Dillikar, Sairaj.R. and Upadhyay, Saurabh and Felicetti, Leonard and Tang, Gilbert},
  booktitle    = {GitHub repository},
  publisher    = {GitHub},
  title        = {Motion Planning and Control of Multi-Arm Robot for In-Orbit Operations},
  month        = {Sep},
  year         = {2023},
  url          = {https://github.com/sairajdillikar/Motion-Planning-and-Control-of-Multi-Arm-Robot-for-In-Orbit-Operations}
}

Contact

For questions, suggestions, or collaborations, feel free to reach out to the project author at [email protected].