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dc.contributor.author Tyler, Laurence
dc.contributor.author Barnes, Dave
dc.date.accessioned 2009-01-16T12:32:00Z
dc.date.available 2009-01-16T12:32:00Z
dc.date.issued 2009-01-16
dc.identifier.citation Tyler , L & Barnes , D 2009 , ' An Instrument Deployment Arm Study for the ExoMars Rover Vehicle ' Unknown Journal , pp. 2008- . en
dc.identifier.other PURE: 107334
dc.identifier.other dspace: 2160/1849
dc.identifier.uri http://hdl.handle.net/2160/1849
dc.description Laurence Tyler, Dave Barnes, An Instrument Deployment Arm Study for the ExoMars Rover Vehicle, European Planetary Science Congress, EPSC 2008, Munster, Germany. Vol. 3 EPSC2008-A-00531. (2008). en
dc.description.abstract 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. en
dc.language.iso eng
dc.relation.ispartof Unknown Journal en
dc.title An Instrument Deployment Arm Study for the ExoMars Rover Vehicle en
dc.type Text en
dc.type.publicationtype Article (Journal) en
dc.contributor.institution Department of Computer Science en
dc.description.status Peer reviewed en


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