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. Solutions are presented to some of the problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing resources. Problems addressed include 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.
Mars Surveyor '98 Landers MVACS Robotic Arm Control System Design Concepts
1997-02-01
Conference paper
No indication
English
Entry System Design Considerations for Mars Landers
NTRS | 2001
|MARS VOLATILES AND CLIMATE SURVEYORS (MVACS) INTEGRATED PAYLOAD FOR THE MARS POLAR LANDER MISSION
British Library Conference Proceedings | 2000
|