SpaceRobotics7863

This repository contains projects and coursework for ROB-GY 7863: Space Robotics at the NYU Tandon School of Engineering.

Project 1: Simulating In-Space Disassembly Tasks in a Zero-G Environment

Project Overview

This project focuses on the development of a high-fidelity simulation environment for in-space robotic disassembly tasks, specifically simulating a 7-axis KUKA IIWA manipulator performing an unscrewing operation on a free-floating object in a microgravity environment.

The simulation is built using the MuJoCo physics engine and leverages models from Google's MuJoCo Menagerie. The primary goal is to create a realistic and robust platform for testing and validating autonomous robotic procedures for On-orbit Servicing, Assembly, and Manufacturing (OSAM) missions.

Key Features

• Robotic Arm: A 7-DOF KUKA IIWA redundant manipulator.
• Environment: A simulated microgravity environment ($10^{-6} g$) designed to mimic conditions inside the International Space Station (ISS). The visual environment is based on the US Lab module of the ISS.
• Task: The robot interacts with a free-floating box, loaded from a custom STL file, to perform a precise manipulation task.
• Control: A Jacobian Damped Least Squares (DLS) controller is implemented to provide robust control and gracefully handle kinematic singularities.
• Collision Handling: The workspace is enclosed by simple bounding walls for efficient collision detection, while complex ISS geometry is used for visualization only.

How to Run the Simulation

1. Navigate to the project directory:

   cd Project1/

2. Ensure you have the required dependencies installed:

   • mujoco
   • numpy
   • matplotlib
   • scipy

3. Run the main simulation file:

   python integrated_simulation.py

   You can run more parameters using command line arguments such as --duration or --plot-only.

Repository Structure

• Project1/: Contains all the files related to this simulation project.
  • integrated_simulation.py: The main Python script to run the simulation.
  • *.xml: MuJoCo model files defining the robot, objects, and environment.
  • *.stl: STL files for custom geometries like the target box.
  • Report.tex / ref.bib: The LaTeX source for the project report and its citations.
  • docs/: Comprehensive documentation including quickstart guides, technical deep dives, and implementation guides.
• Documentation/: Project materials including proposal, diagrams, and reference materials.
• mujoco_menagerie/: Contains the original robot models from the Google MuJoCo Menagerie.