Manipulation and Control

摘要

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. This chapter reviews current and existing robotic manipulation systems for planetary exploration. It discusses relevant design requirements, specifications, and procedures, and describes underlining technologies such as dynamical and motion control of robotic arms. The end-effector consists of a scoop for digging and soil sample acquisition, secondary blades for scraping, an electrometer for measuring tribo-electric charge and atmospheric ionization, and a crowfoot for deploying the rover from the lander to the surface. The primary function of the arm is to position the turret-mounted instruments and tools with respect to Mars surface or rover-mounted targets. The design of a planetary robotic arm system needs to first investigate the performance requirements (such as accuracy and repeatability), environmental requirements (such as lighting, dust, and thermal), as well as the design requirements.