Show simple item record Barnes, David Preston Tyler, Laurence McMahon, Paul 2011-05-05T08:29:12Z 2011-05-05T08:29:12Z 2011-05-05
dc.identifier.citation Barnes , D P , Tyler , L & McMahon , P 2011 , ' Lightweight Arm Operations for Planetary Sample Return ' . en
dc.identifier.other PURE: 159246
dc.identifier.other PURE UUID: 5338864d-4b2c-46c7-9442-38d4ed190cfe
dc.identifier.other dspace: 2160/6705
dc.identifier.other DSpace_20121128.csv: row: 4009
dc.description Tyler, L., Barnes, D., McMahon, P., 'Lightweight Arm Operations for Planetary Sample Return'. Proceedings of the 10th International Symposium on Artificial Intelligence Robotics and Automation in Space, Sapporo, Japan, August 2010. en
dc.description.abstract The Beagle 2 robotic arm was studied to evaluate its suitability as a basis for the design of a lightweight instrument deployment arm for a future planetary rover mission. Newly developed circuitry allowed the arm to be driven in ways it had not been used previously. In particular, joint interpolated motion for straight-line trajectories was demonstrated. The repeatability of instrument positioning was found to be within 0.5 mm. Angular positioning of instruments was subject to larger errors (up to 4.5°), mainly due to known issues with bevel gears on the last two joints. This can easily be remedied without extensive re-design, making the arm highly suitable for a rover mission. In order to take full advantage of the capabilities of the arm, a calibrated physical deflection model will be required to replace the current kinematics model. en
dc.language.iso eng
dc.rights en
dc.title Lightweight Arm Operations for Planetary Sample Return en
dc.type /dk/atira/pure/researchoutput/researchoutputtypes/contributiontoconference/paper en
dc.contributor.institution Department of Computer Science en
dc.contributor.institution Intelligent Robotics Group en
dc.description.status Non peer reviewed en

Files in this item

Aside from theses and in the absence of a specific licence document on an item page, all works in Cadair are accessible under the CC BY-NC-ND Licence. AU theses and dissertations held on Cadair are made available for the purposes of private study and non-commercial research and brief extracts may be reproduced under fair dealing for the purpose of criticism or review. If you have any queries in relation to the re-use of material on Cadair, contact

This item appears in the following Collection(s)

Show simple item record

Search Cadair

Advanced Search