Sim-to-Real Space Debris Simulator
Simulating space debris free motion on earth to understand trajectories mirrored in space
This was a class project completed in conjunction with ongoing research during the 2022 spring semester. The primary objective for this project was to simulate the free body motion of space debris on a physical platform (Fanuc CR35IA collaborative robot). This would provide a means to develop control algorithms for craft bound robotics to grab the tumbling debris before full deployment.
Goals
- Attach a box/object to the platform and simulate space debris tumbling
- Create a virtual trajectory simulation to validate joint limits and proper debris tumbling motion
- Create a communication bridge with the fanuc controller
Tools Used
- Matlab
- Custom python script
- ROBODK
- Ros 1 (Melodic)
Outcomes
- Model free, tumbling motion of space debris
- Matlab generation of intial trajectories without joint limits
- ROBODK Simulation with python control and proper joint limits to validate trajectories
- ROS system to communicate with Fanuc CR35-IA and transmit preplanned trajectory in timestamped configurations
ROBODK Simulation of Fanuc CR35-IA with the desired trajectory for physical implementation.
ROBODK Simulation of Fanuc CR35-IA with the desired trajectory for physical implementation and attached object.
Fanuc CR35-IA with attached object to end-effector. The reset and rising of joints was due to an interaction with J2 and J3 which was solved by changing the central location of the object within the workspace and updating the fanuc controller.