Elasto-Kinematic Calibration of the Lunar Rover Mini 6DOF Robotic Arm

Kurzfassung

Over the last 50 years, Rovers, uncrewed mobile robots, have played a pivotal role in humanitys endeavour in space exploration, becoming invaluable tools for traversing alien landscapes and gathering scientific data. Yet, their capabilities are often limited to observation and basic environmental interaction, and this is where the integration of robotic arms, also known as manipulators, takes place. In 1976, the first rover equipped with a robotic arm landed on Mars, the Viking 1 (NASA, 1988), which allowed for the first time in history the in-situ analysis of extraterrestrial material, namely Martian soil. Approximately three decades later, advancements in robotic arm technology enabled a new era of complexity for Martian missions. The Pathfinder (NASA, 1997) and Sojourner (Matijevic, 1997) rovers leveraged these advanced manipulators to deploy and operate scientific instruments, significantly expanding the operational scope of rovers beyond basic observation. However, a substantial leap forward occurred in 2012 with the arrival of the Curiosity rover. Curiositys sophisticated robotic arm, nicknamed The Arm, (NASA, 2024) embodies a level of dexterity and precision unmatched by its predecessors. This remarkable feat of engineering empowers Curiosity to undertake intricate tasks such as rock drilling, sample collection, and in-depth analysis, fundamentally reshaping our understanding of what a space rover can achieve.