An anticipated goal of Mars surface exploration missions will be to survey and sample surface rock formations which appear scientifically interesting. In such a mission, a planetary rover would navigate close to a selected sampling site and the remote operator would use a manipulator mounted on the rover to perform a sampling operation. Techniques for accomplishing the necessary manipulation for the sampling components of such a mission have been developed and are presented. We discuss the implementation of a system for controlling a seven (7) degree of freedom Puma manipulator, equipped with a special rock gripper mounted on a planetary rover prototype, intended for the purpose of performing the sampling operation. Control is achieved by remote teleoperation. This paper discusses the real-time force control and supervisory control aspects of the rover manipulation system. Integration of the Puma manipulator with the existing distributed computer architecture is also discussed. The work described is a contribution toward achieving the coordinated manipulation and mobility necessary for a Mars sample acquisition and return scenario.
Manipulator control for rover planetary exploration
1992-01-01
Aufsatz (Konferenz)
Keine Angabe
Englisch
Robust Visual Servo Control and Tracking for the Manipulator of a Planetary Exploration Rover
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2021
|Rover for lunar planetary exploration
British Library Online Contents | 1996
|Ambler: an autonomous rover for planetary exploration
Tema Archiv | 1989
|