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dc.contributor.author Barnes, David Preston
dc.contributor.author Tyler, Laurence
dc.contributor.author McMahon, Paul
dc.date.accessioned 2011-05-05T08:29:12Z
dc.date.available 2011-05-05T08:29:12Z
dc.date.issued 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 dspace: 2160/6705
dc.identifier.uri http://hdl.handle.net/2160/6705
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.title Lightweight Arm Operations for Planetary Sample Return en
dc.type Text en
dc.type.publicationtype Conference paper en
dc.contributor.institution Department of Computer Science en
dc.contributor.institution Intelligent Robotics Group en
dc.description.status Non peer reviewed en


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