Marsha Docs - Meta Artificial Intelligent Robotic Spacecraft Handy Arm
Marsha stands for Meta Artificial intelligent Robotic Spacecraft Handy Arm.
Auxiliary Platform
This is the documentation for the auxiliary platform.
Device Platforms
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.
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.
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.
Note
This project is under active development. Marsha name subject to change.
Getting Started
The following guides provide instructions to install marsha and begin with a demo of the basic functionality.
Guides