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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Trebi-Ollennu, A. Baumgartner, E.T. Leger, P.C. Bonitz, R.G. |
| Copyright Year | 2005 |
| Description | Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Trebi-Ollennu, A.; Baumgartner, E.T.; Leger, P.C.; Bonitz, R.G.) |
| Abstract | This paper describes the operations of the 5 degree-of-freedom instrument deployment device (IDD), a dexterous robotic manipulator on the Mars Exploration Rovers, spirit and opportunity. The unprecedented flawless operations of the IDD enabled precise and reliable placement of at least 3 in situ instruments in sequential order on a designated target position on Martian rock/soil any time during the Martian diurnal cycle (day or night). These placements demonstrated a repeatability of /spl sim/1 mm in position and /spl sim/1 degree in orientation. This operations breakthrough is underappreciated, but it alone enabled the scientist to characterize a wide range of rocks and soils in a timely manner in the hunt for geological clues that revealed that the planet was once rich in water. In this paper we describe the IDD planning and command sequence generation process used to place and hold in situ instruments directly against rock and soil targets of interest within the IDD work volume. |
| Starting Page | 1799 |
| Ending Page | 1806 |
| File Size | 432049 |
| Page Count | 8 |
| File Format | |
| ISBN | 0780392981 |
| DOI | 10.1109/ICSMC.2005.1571409 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-10-12 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robots Mars Soil Geology Instruments Planets Surface morphology Manipulators Spectroscopy Automotive engineering Planetary Robotics Manipulation In Situ Robotics Command Sequencing Mars Exploration Surface Operations |
| Content Type | Text |
| Resource Type | Article |
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