Robotic arm control system for mars rover analogue

Abstract

Presented paper's main focus is set on improvements in mobile robot's arm control system. This goal is achieved, with two departures from previous way of performing operations, that relays on repositioning each joint separately with a joystick. First part of this article focuses on implementing inverse kinematics algorithms to Arm Control System. This approach allows to perform smooth, precise movements in Cartesian coordinate system, previously impossible to execute. Second part describes a Phantom device that allows an operator to control arm in real time or to program it through teaching, even without access to a manipulator. This solution also incorporates, embedded in rover core systems, inverse kinematics algorithms. The paper is concluded with an review of presented advancements in systems development and prediction of future improvements that may be beneficial to achieve authors main goal - easy, intuitive and precise robot's manipulator control system.