The servo control of a multi degree of freedom (DoF) robotic arm presents major architectural issues since typically it requires the multiple and concurrent control of electrical motors together with the conditioning and acquisition of multiple sensors signals (current, position, torque). In the frame of Mars Sample Return project - Sample Transfer Arm (STA), a concept of a modular unit based on building blocks has been designed by means of single rail main power converter with dedicated downstream Servo Control Electronics module offering the possibility to work in hot redundancy. The preliminary architecture is here presented with the relevant preliminary system analysis.
Modular Architecture for a Control Unit for a Martian Robotic Arm
2023-10-02
760988 byte
Conference paper
Electronic Resource
English
AIAA | 2018
|MARTIAN MODULAR BASE (AIAA 2018-5312)
British Library Conference Proceedings | 2018
|The Case for a Robotic Martian Airship
British Library Conference Proceedings | 1997
|A case for a robotic Martian airship
AIAA | 1997
|Optical Dating of Martian Eolian Sediments by Robotic Spacecraft
British Library Conference Proceedings | 2000
|