Phoenix Robotic Arm Camera

Results from the Mars Phoenix Lander Robotic Arm experiment

[1] The Mars Phoenix Lander was equipped with a 2.4 m Robotic Arm (RA) with an Icy Soil Acquisition Device capable of excavating trenches in soil deposits, grooming hard icy soil surfaces with a scraper blade, and acquiring icy soil samples using a rasp tool. A camera capable of imaging the scoop interior and a thermal and electrical conductivity probe were also included on the RA. A dozen tren...

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

Mind Controlled Robotic Arm

Electro Encephalo Gram based Brain-Computer Interface robotic arm can help as a powerful support for severely disabled people in their regular activities, especially to aid them to move their arm voluntarily. This paper proposes and implements a brain signal (mind) controlled robotic arm to yield different movements in robotic arm. The scheme uses a single electrode pair acquisition scheme, mic...

Best Viewpoint Tracking for Camera Mounted on Robotic Arm with Dynamic Obstacles

The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics, and proposes a method for dynamic best viewpoint recovery of a target point while avoiding possible occlusions. Since the environment can change, the method has to iteratively find the n...

Camera Augmented Mobile C-arm