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1 November 1992 Manipulator control for rover planetary exploration
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Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992)
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
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.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jonathan M. Cameron, Edward Tunstel, Tam Nguyen, and Brian K. Cooper "Manipulator control for rover planetary exploration", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992);

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