Modular and reconfigurable assembler system for autonomous in-space assembly

A method for controlling an assembly process comprising one or more assemblers, the method comprising:

• determining an optimal number of hexapods in each of a plurality of assemblers involved in the assembly process;
• assigning tasks to each of the plurality of assemblers involved in the assembly process;
• receiving a goal pose for one of the plurality of assemblers;
• calculating trajectories for the lengths of each linear actuator of the hexapods in the one assembler;
• receiving trajectory data for each actuator of the hexapods in the one assembler;
• applying calculated voltages to each actuator for the hexapods to move the one assembler into the goal pose;
• receiving signals from control inputs and sensors onboard the hexapods;
• generating an estimated state of a position and an orientation of the hexapod;
• determining a fault state based on the estimated state;
• and
• sending a fault/no fault signal to correct the goal pose of the one assembler.

An assembly system comprising,

• a plurality of assemblers,
• a task manager in communication with the plurality of assemblers;
• a plurality of trajectory generator modules, each of the plurality of the trajectory generators in communication with one of the plurality of assemblers;
• a plurality of joint controller modules, in communication with one each of the plurality of the trajectory generators, each of the plurality of the joint controller modules is configured to receive trajectory data from the one trajectory generator system for each of a plurality of actuators for one hexapod of the one assembler and configured to apply calculated voltages to the actuators for the one hexapod to move the assembler into the goal pose;
• a plurality of sensor fusion module in communication with the task manager, each sensor fusion module configured to receive signals from control inputs and sensors onboard the one hexapod and configure 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 a health state of the one hexapod and send a fault/no fault signal to the trajectory generator.