Motion specification algorithms for both platform and arms of a mobile robot for planetary research

Abstract

This article describes some aspects of the control system design for a four-wheel mobile platform with individual wheel-steering equipped with two redundant robotic arms. The considered control issues include different ways of platform maneuvering as well as a solution of inverse kinematics problem for a redundant arm with an original approach to redundancy resolution depending on operator’s intention.

Towards Electron-Beam-Driven Soft / Polymer Fiber Microrobotics For Vacuum Conditions

“…We are not considering here aerial robot explorers for planetary exploration [38], which by definition are not vacuum devices. For the same reason robots with manipulators for exploring planets are beyond the scope of this paper [39][40][41][42]. Therefore, in this case, we can only talk about the applications in "open space" and non-atmospheric bodies: meteorites and others [43].…”

Towards Electron-Beam-Driven Soft / Polymer Fiber Microrobotics for Vacuum Conditions

“…We are not considering here aerial robot explorers for planetary exploration [38], which by definition are not vacuum devices. For the same reason robots with manipulators for exploring planets are beyond the scope of this paper [39][40][41][42]. Therefore, in this case, we can only talk about the applications in "open space" and non-atmospheric bodies: meteorites and others [43].…”