An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

Details An Instrument Deployment Arm Study for the ExoMars Rover Vehicle An Instrument Deployment Arm Study for the ExoMars Rover Vehicle

Sep 2008

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2008epsc.conf..531t&link_type=abstract

European Planetary Science Congress 2008, Proceedings of the conference held 21-25 September, 2008 in Münster, Germany. Online a

Physics

Scientific paper

We describe our work on a study into key instrument deployment requirements for the ESA ExoMars rover Instrument Deployment Arm (IDA). Using the Beagle 2 (B2) arm as a baseline design, we address issues of positional and angular accuracy & repeatability of instrument placement, and make recommendations for the IDA design. We also describe joint-interpolated motion control of the B2 arm to approximate a straight-line trajectory. Our work culminated in a demonstration of our autonomous arm placement control methods as applied to the B2 arm and IDA test rig.

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