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Proceedings Paper

Manipulator control for rover planetary exploration
Author(s): Jonathan M. Cameron; Edward Tunstel; Tam Nguyen; Brian K. Cooper
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Paper Abstract

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.

Paper Details

Date Published: 1 November 1992
PDF: 10 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131726
Show Author Affiliations
Jonathan M. Cameron, Jet Propulsion Lab. (United States)
Edward Tunstel, Jet Propulsion Lab. (United States)
Tam Nguyen, Jet Propulsion Lab. (United States)
Brian K. Cooper, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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