Manipulation and Control
José de Gea Fernández, Elie Allouis, Karol Seweryn, Frank Kirchner, Yang Gao
Editors: Yang Gao
In Contemporary Planetary Robotics: An Approach Toward Autonomous Systems, Wiley-VCH Verlag GmbH & Co. KGaA, chapter 5, pages 255-319, Aug/2016. ISBN: 978-3-527-41325-6.

Zusammenfassung (Abstract) :

The use of robotic systems for planetary exploration has been successfully shown in recent years with outstanding examples such as the Mars rovers Opportunity, Spirit, and Curiosity. While the first phase of planetary exploration tends to deal with 'passive' in situ exploration of unknown areas by using cameras, measuring values of the atmosphere by using onboard instruments, and so on, the relevant scientific experiments can be performed as soon as samples (such as soil or rocks) can be analyzed either by bringing them back to Earth or by analyzing them in situ. In either case, the rover is required to have the ability to gather samples, drill into the rocks, or bring the samples to the rover's onboard scientific instruments in order to get them analyzed; hence, robotic manipulation is an importance functionality in these missions. In case of advanced missions such as to establish extraterrestrial outposts on the Moon, the robots need to be equipped with one or several manipulators to be able to grasp, transport, and assemble infrastructure. This Chapter starts reviewing current and existing robotic manipulation systems for planetary exploration. Further, the Chapter discusses relevant design requirements, specifications, and procedures, describes underlining technologies such as dynamical and motion control of robotic arms, and presents various future needs and directions in this area.


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