Title :
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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619331
