Marsha Docs - Meta Artificial Intelligent Robotic Spacecraft Handy Arm

Marsha stands for Meta Artificial intelligent Robotic Spacecraft Handy Arm.

About Marsha

Three device platforms are used to for marsha development and operation:

Auxiliary Platform (Linux 18.04 Computer)
- The Auxiliary Platform is used to manually control the robot as well as program it.
- Access Auxiliary Platform Wiki
Embedded Platform (Jetson Nano)
- The Embedded Platform runs ros-melodic and acts as a high level controller responsible for mission management (payload control system), computer vision, artificial intelligence, and robotic motion planning.
- Access Embedded Platform Wiki
Microcontroller Platform (Teensy 4.1)
- The Embedded Platform gives the Microcontroller position commands for each joint in the robotic arm. The Microcontroller implements a closed loop controller to move stepper motors with the position commands as the setpoint and encoders as the feedback.
- Access Microcontroller Platform Wiki

Note

This project is under active development. Marsha name subject to change.

The following guides provide instructions to install marsha and begin with a demo of the basic functionality.

Guides