ISRO's Rendezvous, Space docking and Berthing Experiment

[NerVik]

View: https://x.com/TitaniumSV5/status/1870781027503030353?t=Cj9C6QqnAim11mVYymW9lw&s=19.

Multi-Sensor Inertial Reference System (MIRS)


The MIRS payload is developed by IISU. The objectives of the payload are technology demonstration and performance evaluation of newly developed miniaturised inertial sensors in space. The sensors include ISRO Coriolis Resonating Gyro-Digital (ICRG-D), Tuning Fork Gyroscopes (TFG), Advanced Geomagnetic Sensors (AGS), and an Electronic Dosimeter.
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Laser Firing Unit (LFU) and Laser Initiation Pyro Unit (LIP)

This payload, developed by VSSC, demonstrates an in-orbit initiation test of Pyro technique thrusters using a laser-based firing unit, in comparison to conventional electrical firing circuits. The unit offers reduced power requirements, lower overall weight and size, a reduction in the number of execution modules and package harness, and enhanced safety features.
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RRM-TD: Walking Robotic Arm

Relocatable Robotic Manipulator-Technology Demonstrator (RRM-TD), also known as the Walking Robotic Arm, is India’s first space robotic manipulator with walking capability, developed by IISU. It is a 7 Degree of Freedom (DoF) robotic arm that will perform re-location through inch-worm walking to defined targets on the POEM-4 platform. This experiment will demonstrate a large workspace for in-orbit servicing with robotic manipulators comprising indigenous robotic joints and arm controllers, a grappling mechanism and standardised adaptor with power and data transfer, cameras for eye-in-hand operation, and advanced software architecture with obstacle-aware motion planning and several layers of safety features deployed on a high-compute processor. The experiment will serve as a precursor technology demonstrator for certain robotic technologies of Bharatiya Antariksh Station (BAS), such as end-on-end walking, microgravity operation of robotic arms, vision-based 6DoF pose estimation, visual inspection of stages, robotic manipulation through visual servoing and compliance control, harness-free operation using power and data grappling fixtures, Tele-operation, and Digital Twin.

2. Debris Capture Robotic Manipulator

Developed by VSSC, the objective of this experiment is to demonstrate the capturing of tethered debris by a robotic manipulator using visual servoing and object motion prediction in the space environment. It also includes the demonstration of a parallel end-effector for object capture and manipulation. Upon successful demonstration of the first experiment, the robotic manipulator will be capable of capturing free-floating debris and refuelling tethered and free-floating spacecraft in future POEM missions.

So we are testing robotic arm tech as well as docking tech in this mission?

 

[fire starter]