An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

We describe our work on a study into key instrument deployment requirements for the ESA ExoMars rover Instrument Deployment Arm (IDA). Using the Beagle 2 (B2) arm as a baseline design, we address issues of positional and angular accuracy & repeatability of instrument placement, and make recommendations for the IDA design. We also describe joint-interpolated motion control of the B2 arm to approximate a straight-line trajectory. Our work culminated in a demonstration of our autonomous arm placement control methods as applied to the B2 arm and IDA test rig.