Modeling and Simulation of Satellite Servicing Manipulators

Final Project for the course ENPM662: Introduction to Robot Modeling (Fall 2021).

This project was inspired based on my work in Johns Hopkins as a visiting intern at the Laboratory for Computational Sensing and Robotics working on the NASA research project for Restore-L. The aim was to simulate the European Robotic Arm (ERA) in an outer space like environment using ROS and Gazebo. The CAD model for the satellite was taken from GrabCAD and modified to suit our requirements. All credits go to the respective author of the satellite CAD model.

Demo of the servicing manipulator cutting through the surface of the broken satellite

Demo of the servicing manipulator being controlled through teleoperation (with time-delay)