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Mars Surveyor '98 Landers MVACS Robotic Arm Control System Design ConceptsThis paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Solutions are presented to some of the problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing resources. Problems addressed include 4-DOF forward and inverse kinematics, trajectory planning to minimize potential impact damage, joint drive train protection, Lander tilt prevention, hardware fault monitoring, and collision avoidance.
Document ID
20010000525
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
Authors
Bonitz, Robert G. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Date Acquired
August 20, 2013
Publication Date
February 1, 1997
Publication Information
Publication: NASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and Environment
Volume: 1
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
URC97167
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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IDRelationTitle20010000359Collected WorksNASA University Research Centers Technical Advances in Education, Aeronautics, Space, Autonomy, Earth and Environment
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