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In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 SolsThe Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.
Document ID
20150007475
Document Type
Conference Paper
External Source(s)
Authors
Robinson, M.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Collins, C.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Leger, P.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Carsten, J.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tompkins, V.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Hartman, F.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Yen, J.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
May 6, 2015
Publication Date
June 2, 2013
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Lunar And Planetary Science And Exploration
Meeting Information
Systems of Systems Engineering (SoSE)(Maui, HI)
Distribution Limits
Public
Copyright
Other
Keywords
Mars surface operations
in-situ operations
robotic arm
space robotics
manipulation
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