Mars Surveyor ´98 Lander MVACS robotic arm control system design concepts

Author

Bonitz, Robert G.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2465

Abstract

This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor ´98 Lander project. Novel solutions are presented to some of the unique problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing resources. Problems addressed include the 4-DOF forward and inverse kinematics, trajectory planning to minimize potential impact damage, joint drive train protection, Lander tilt prevention, hardware fault monitoring, and collision avoidance

Keywords

Mars; aerospace control; control system synthesis; manipulator kinematics; path planning; planets; space research; space vehicles; 4-DOF inverse kinematics; Lander tilt prevention; Mars Surveyor ´98 Lander MVACS robotic arm control system design; climate surveyor; collision avoidance; hardware fault monitoring; impact damage minimization; joint drive train protection; robotic arm; trajectory planning; volatiles surveyor; Collision avoidance; Control systems; Hardware; Kinematics; Mars; Monitoring; Orbital robotics; Protection; Robot control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619331

Filename

619331