US 11,989,009 B2
Modular and reconfigurable assembler system for autonomous in-space assembly
James H. Neilan, II, Seaford, VA (US); Matthew K. Mahlin, Poquoson, VA (US); John R. Cooper, Yorktown, VA (US); Laura M. White, Hampton, VA (US); Benjamin N. Kelley, Suffolk, VA (US); Matthew P Vaughan, Hampton, VA (US); Iok M. Wong, Poquoson, VA (US); John W. Mulvaney, Yorktown, VA (US); Erik E. Komendera, Christiansburg, VA (US); William D Chapin, Radford, VA (US); Joshua N. Moser, Blacksburg, VA (US); and Samantha H. G. Chapin, Aquasco, MD (US)
Assigned to United States of America as represented by the Administrator of NASA, Washington, DC (US)
Filed by UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATIVE OF NASA, Washington, DC (US)
Filed on Sep. 22, 2021, as Appl. No. 17/481,805.
Claims priority of provisional application 63/081,671, filed on Sep. 22, 2020.
Prior Publication US 2022/0091593 A1, Mar. 24, 2022
Int. Cl. G05B 19/418 (2006.01); B64G 1/24 (2006.01); B64G 1/36 (2006.01); G06N 20/00 (2019.01); H02P 25/06 (2016.01); H02P 29/024 (2016.01)
CPC G05B 19/41805 (2013.01) [B64G 1/242 (2013.01); B64G 1/36 (2013.01); G05B 19/4184 (2013.01); G05B 19/4188 (2013.01); H02P 25/06 (2013.01); H02P 29/024 (2013.01); G05B 2219/24033 (2013.01); G06N 20/00 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A control system for an assembly process comprising one or more assemblers, the system comprising:
a task manager configured to determine an optimal number of hexapods in one assembler involved in the assembly process, and to assign tasks to each of the assemblers involved in the assembly process;
trajectory generator module in communication with the task manager to receive a goal pose for the assembler and configured to calculate trajectories for the lengths of each linear actuator of all hexapods in the assembler;
a plurality of joint controller modules in communication with the trajectory generator system, each joint controller module is configured to receive trajectory data from the trajectory generator system for each actuator for one hexapod of the assembler and configured to apply calculated voltages to each actuator for the one hexapod to move the assembler into the goal pose;
a plurality of sensor fusion modules in communication with the task manager, each sensor fusion module configured to receive signals from control inputs and sensors onboard the one hexapod and configured to generate an estimated state of a position and an orientation of the one hexapod then provide the estimated state to the task manager; and
a fault detection module configured to analyze the health of the one hexapod and to send a fault/no fault signal to the trajectory generator.