Trajectory planning and control of robot arm for planetary surface sample missions

Khorram, A., Parsa, S.S. and Saaj, C. (2009) Trajectory planning and control of robot arm for planetary surface sample missions. In: 60th International Astronautical Congress, 12th - 16th October 2009, Daejeon, Republic of Korea.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

The exploration of Mars for traces of past or present life and presence of water and minerals in the subsurface rocks remains one of the most challenging and exciting areas for the scientific community. Having an absolute control over the planetary manipulator for executing the assigned task is a vital requirement of any planetary mission design. In this paper a robust control method has been applied to the robot manipulator in the presence of uncertain and unknown disturbances. The simulation results illustrate the efficiency of the proposed method.

Additional Information:cited By 0
Keywords:robot arm, planetary surface, Trajectory planning
Divisions:College of Science > School of Engineering
ID Code:37420
Deposited On:07 Oct 2019 09:42

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