An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

Laurence Tyler, David Preston Barnes

Research output: Contribution to conferenceAbstractpeer-review


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 languageEnglish
Publication statusPublished - Sept 2008
EventEuropean Planetary Science Congress - Münster, Germany
Duration: 21 Sept 200826 Sept 2008


ConferenceEuropean Planetary Science Congress
Period21 Sept 200826 Sept 2008


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