An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

Laurence Tyler; David Preston Barnes

An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

Laurence Tyler, David Preston Barnes

Department of Computer Science

Research output: Contribution to conference › Abstract › peer-review

Abstract

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.

Original language	English
Publication status	Published - Sept 2008
Event	European Planetary Science Congress - Münster, Germany Duration: 21 Sept 2008 → 26 Sept 2008

Conference

Conference	European Planetary Science Congress
Country/Territory	Germany
City	Münster
Period	21 Sept 2008 → 26 Sept 2008

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title = "An Instrument Deployment Arm Study for the ExoMars Rover Vehicle",

abstract = "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.",

author = "Laurence Tyler and Barnes, {David Preston}",

note = "Laurence Tyler, Dave Barnes, An Instrument Deployment Arm Study for the ExoMars Rover Vehicle, European Planetary Science Congress, EPSC 2008, Munster, Germany. Vol. 3 EPSC2008-A-00531. (2008).; European Planetary Science Congress ; Conference date: 21-09-2008 Through 26-09-2008",

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month = sep,

language = "English",

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T1 - An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

AU - Tyler, Laurence

AU - Barnes, David Preston

N1 - Laurence Tyler, Dave Barnes, An Instrument Deployment Arm Study for the ExoMars Rover Vehicle, European Planetary Science Congress, EPSC 2008, Munster, Germany. Vol. 3 EPSC2008-A-00531. (2008).

PY - 2008/9

Y1 - 2008/9

N2 - 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.

AB - 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.

M3 - Abstract

T2 - European Planetary Science Congress

Y2 - 21 September 2008 through 26 September 2008

ER -

An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

Abstract

Conference

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