In situ robotic arm operations

This article compares and contrasts the operations of the robotic manipulators on the Mars Phoenix Lander and Mars Exploration Rovers (MERs), Spirit and Opportunity. Unlike the MERs, the Phoenix Mars Lander stays in one spot at a particular geographic location on the Martian surface with exploration...

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Bibliographic Details
Published in:IEEE robotics & automation magazine 2009-12, Vol.16 (4), p.34-43
Main Authors: Trebi-Ollennu, A., Volpe, R., Bonitz, R.G., Robinson, M.L., Carsten, J.
Format: Article
Language:English
Subjects:
Abrasion
Abrasion resistance
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Exploration
Geology
Horizontal
Instruments
manipulation planning
Manipulators
Mars
Mars surface
Orbital robotics
Planets
Position (location)
Robotics
Robots
Rock
Sampling
Sampling methods
Soil
Space robotics
Spectroscopy
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Summary:This article compares and contrasts the operations of the robotic manipulators on the Mars Phoenix Lander and Mars Exploration Rovers (MERs), Spirit and Opportunity. Unlike the MERs, the Phoenix Mars Lander stays in one spot at a particular geographic location on the Martian surface with exploration emphasis on vertical mobility sampling. In this article the operations of Phoenix robotic arm (RA) were described during the prime mission and compare and contrast it with MER instrument deployment device (IDD) operations. In addition, the technology gaps were identified in operations and deployment of in situ manipulators in planetary exploration.
ISSN:1070-9932
1558-223X
DOI:10.1109/MRA.2009.934820