Mars Surveyor '98 Lander MVACS robotic arm control system design concepts
نویسنده
چکیده
This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientiic 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 .
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