Title :
A prototype manipulation system for Mars rover science operations
Author :
Volpe, Richard ; Ohm, Timothy ; Petras, Richard ; Welch, Richard ; Balaram, J. ; Ivlev, Robert
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper provides an overview of a new manipulation system developed for sampling and instrument placement from small autonomous mobile robots for Mars exploration. Selected out of the design space, two manipulators have been constructed and integrated into the Rocky 7 Mars rover prototype. This paper describes the design objectives and constraints for these manipulators, and presents the finished system and some results from its operation
Keywords :
aerospace control; control system synthesis; manipulators; materials handling; mobile robots; robot vision; Mars rover; Rocky 7; autonomous mobile robots; design concept; manipulation system; manipulators; prototype; robot vision; Actuators; Instruments; Laboratories; Manipulators; Mars; Mobile robots; Propulsion; Prototypes; Soil; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.656555
