Title :
Autonomous image-plane robot control for Martian lander operations
Author :
Baumgartner, E.T. ; Schenker, P.S.
Author_Institution :
Dept. of Mech. Eng., Michigan Technol. Univ., Houghton, MI, USA
Abstract :
This paper describes the use of an image-plane robot control method known as camera space manipulation for remote planetary surface operations using a three degree-of-freedom arm mounted on a lander base. Because of incompatibilities that may exist in the image-plane target objectives that are required for the camera space manipulation method the final positioning precision of the arm relative to a point in 3D space is investigated. The experimental system developed required only minimal modifications to the existing Martian lander facility and the system achieved positioning precision on the order of 5 mm or less. Autonomous operation of the system was successfully demonstrated for task such as autonomous sample acquisition
Keywords :
aerospace control; intelligent control; manipulators; position control; robot vision; space vehicles; telerobotics; 3-DOF arm; CCD cameras; Martian lander; autonomous sample acquisition; camera space manipulation; image-plane robot control; positioning; remote planetary surface operations; view parameter estimation; Cameras; Inspection; Mars; Mechanical engineering; Orbital robotics; Propulsion; Robot control; Robot vision systems; Space technology; Surface-mount technology;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503860