This project explores how advanced robotic autonomy can enable future satellite maintenance, repair, and disassembly missions in space. Conducted in collaboration with PickNik Robotics, the work focuses on advancing autonomous robotic manipulation for in-space satellite servicing. Leveraging the MoveIt Pro platform, we developed and validated algorithms for perception, motion planning, and compliant control, allowing a robotic arm to perform complex servicing operations such as inspection, cutting, and component replacement.
To achieve precise and adaptive interactions in uncertain environments, the project integrates key methods including Next Best View (NBV) planning, AprilTag-based pose detection, and impedance force control.
Video Material (Kinova Gen3 Satellite Servicing Demo)