Docking Interface Measurements

[!IMPORTANT] The docking port on the chaser can be mounted along the +x or +y axis.

• By default, the docking port is along the +y body axis of the chaser (shown in the below images).
• If you are experimenting using an onboard vision system without the manipulator arm, the docking port must be along the +x body axis of the chaser.
• Typically, experiments involving the manipulator arm use the docking port/attachment point in the +y body axis of the chaser, which allows the manipulator to be in-view of the onboard vision system (in the +x body axis) during docking.

Male and female docking interfaces can be attached onto the chaser and target platforms, respectively. Rough measurements of the positions of the docking interfaces are provided (in cm) below:

When docked, the chaser and target are oriented as shown in the figure below, with relevant (rough) measurements given in cm: