Upcoming planetary exploration missions will see extensive use of rovers for both scientific tasks, building tasks and astronaut assisting tasks. An essential element to carry out these tasks is the presence of a robotic arm. In this work, the mechatronic design of a lightweight and modular robotic arm for a planetary exploration rover is presented. The presented 4DOF solution was found to provide enough dexterity to collect target samples due to the non-holonomic constraints provided by the arm’s supporting rover, allowing reduced mass and power budget. The rover arm control software is based on the Robot Operative System (ROS) framework. Positioning accuracy has been evaluated with TagSLAM, a low-cost tracking method based on AprilTag fiducial markers.
Mechatronic Design and Positioning Accuracy Characterisation of a Robotic Arm for Exploration Rovers / Franchini, Giacomo; Chiodini, Sebastiano; Ghetti, Marco; Pertile, Marco. - ELETTRONICO. - (2023), pp. 452-457. (Intervento presentato al convegno 2023 IEEE International Workshop on Metrology for Aerospace tenutosi a Milan, Italy nel 19-21 June 2023) [10.1109/MetroAeroSpace57412.2023.10190044].
Mechatronic Design and Positioning Accuracy Characterisation of a Robotic Arm for Exploration Rovers
Franchini, Giacomo;
2023
Abstract
Upcoming planetary exploration missions will see extensive use of rovers for both scientific tasks, building tasks and astronaut assisting tasks. An essential element to carry out these tasks is the presence of a robotic arm. In this work, the mechatronic design of a lightweight and modular robotic arm for a planetary exploration rover is presented. The presented 4DOF solution was found to provide enough dexterity to collect target samples due to the non-holonomic constraints provided by the arm’s supporting rover, allowing reduced mass and power budget. The rover arm control software is based on the Robot Operative System (ROS) framework. Positioning accuracy has been evaluated with TagSLAM, a low-cost tracking method based on AprilTag fiducial markers.File | Dimensione | Formato | |
---|---|---|---|
Mechatronic_design_and_positioning_accuracy_characterisation_of_a_robotic_arm_for_exploration_rovers_MetroAeroSpace.pdf
accesso aperto
Tipologia:
2. Post-print / Author's Accepted Manuscript
Licenza:
Pubblico - Tutti i diritti riservati
Dimensione
4.48 MB
Formato
Adobe PDF
|
4.48 MB | Adobe PDF | Visualizza/Apri |
Mechatronic_Design_and_Positioning_Accuracy_Characterisation_of_a_Robotic_Arm_for_Exploration_Rovers_accepted.pdf
accesso riservato
Tipologia:
2a Post-print versione editoriale / Version of Record
Licenza:
Non Pubblico - Accesso privato/ristretto
Dimensione
4.83 MB
Formato
Adobe PDF
|
4.83 MB | Adobe PDF | Visualizza/Apri Richiedi una copia |
Pubblicazioni consigliate
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11583/2980903