Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential infrastructure such as solar power generating towers. Similar to the construction of the International Space Station (ISS), shipping necessary components via modules and assembling them in situ should be a practical scenario. In this context, this paper focuses on the integration of vision, control, and hardware systems within an autonomous sequence for a dual-arm robot system. We explore a perception and control pipeline specifically designed for assembling solar panel modules, one of the benchmark tasks. Ad hoc hardware was designed and tested in real-world experiments. A mock-up of modular solar panels and active-passive connectors are employed, with the control of this grappling fixture integrated into the proposed pipeline. The successful implementation of our method demonstrates that the two robot manipulators can effectively connect arbitrarily placed panels, highlighting the seamless integration of vision, control, and hardware systems in complex space applications.

翻译：自阿波罗计划成功以来，人类再次将目光投向月球，致力于科学探索、资源开采与长期居留。未来数十年的重点将聚焦于建设月球前哨站，其中机器人系统将在安全高效地建立太阳能发电塔等关键基础设施方面发挥核心作用。与国际空间站（ISS）的建设模式类似，通过模块化运输必要组件并在原位进行组装将成为切实可行的实施方案。在此背景下，本文重点研究双机械臂机器人系统在自主作业序列中视觉、控制与硬件系统的集成。我们针对太阳能电池板模块组装这一基准任务，设计并探索了专用的感知与控制流程。通过实际实验对定制化硬件进行了设计与验证。研究采用模块化太阳能电池板模拟件及主被动连接器，并将该抓取装置的控制集成至所提出的流程中。本方法的成功实施表明，两台机器人操作臂能够有效连接任意放置的电池板，凸显了视觉、控制与硬件系统在复杂空间应用场景中的无缝集成能力。