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Estimation and Control for Autonomous Coring from a Rover ManipulatorA system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.
Document ID
20150009151
Document Type
Conference Paper
External Source(s)
Authors
Hudson, Nicolas (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Backes, Paul (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
DiCicco, Matt (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bajracharya, Max (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
June 1, 2015
Publication Date
March 6, 2010
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Report/Patent Number
IEEEAC Paper 1540
Meeting Information
IEEE Aerospace Conference(Big Sky, MT)
Distribution Limits
Public
Copyright
Other