Tootfinder

Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation
Abhay Negi, Omey M. Manyar, Satyandra K. Gupta
https://arxiv.org/abs/2506.17458

Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation
Robotic manipulation in space is essential for emerging applications such as debris removal and in-space servicing, assembly, and manufacturing (ISAM). A key requirement for these tasks is the ability to perform precise, contact-rich manipulation under significant uncertainty. In particular, thermal-induced deformation of manipulator links and temperature-dependent encoder bias introduce kinematic parameter errors that significantly degrade end-effector accuracy. Traditional calibration techniq…