Erik Edmund Komendera

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We describe an Intelligent Precision Jigging Robot (IPJR), which allows high precision assembly of commodity parts with low-precision bonding. We present preliminary experiments in 2D that are motivated by the problem of assembling a space telescope optical bench on orbit using inexpensive, stock hardware and low-precision welding. An IPJR is a robot that(More)
We propose an algorithmic approach for assembly path planning that takes stability of the structure during construction into account. Finite Element Analysis (FEA) is used to evaluate the intermediate stages of the assembly for stability. The algorithm presented here assembles a structure by greedily taking the most stable option at each step in the(More)
This paper describes an Intelligent Precision Jigging Robot (IPJR) prototype that enables the precise alignment and welding of titanium space telescope optical benches. The IPJR, equipped with μm accuracy sensors and actuators, worked in tandem with a lower precision remote controlled manipulator. The combined system assembled and welded a 2 m truss(More)
  • Erik Edmund Komendera, Shaurav Adhikari, Samantha Glassner, Ashwin Kishen, Amy Quartaro
  • 2017 IEEE/RSJ International Conference on…
  • 2017
Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1)(More)
In space mission trajectory planning in dynamic environments, such as at asteroids, scenarios leading to failure must be discovered. Given an initial state of a spacecraft about an asteroid, failure can be simply quantified as impact of the vehicle with the asteroid or escape of the vehicle from the asteroid. For mission planning and execution purposes it(More)
Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar(More)
We describe a method to construct precise truss structures from non-precise commodity parts. Trusses with precision in the order of micrometers, such as the truss of a space telescope, can be accomplished with precisely machined truss connection systems. This approach is expensive, heavy, and prone to failure, e.g., when a single element is lost. In the(More)
We propose a novel class of algorithms for autonomously assembling structures from inert building blocks guided by intelligent scaffolding components. Intelligent scaffold units are equipped with sensing, actuation, computation and communication abilities and facilitate the attachment of inert building blocks to the structure. After attaching an inert(More)