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Automated Insertion of Geophones using Light-Weight Robots

Music, Selma (2014) Automated Insertion of Geophones using Light-Weight Robots. DLR-Interner Bericht. DLR-IB 572-2014/23. Master's. .

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Manual installation of seismic networks, i.e., geophones in extraterrestrial applications or in extreme environments on Earth is risky, expensive and error-prone. A more reliable alternative of inserting sensors into soil is the automatic deposition with a leight-weight robot manipulator. However, inserting a sensor into soil is a challenging task for robotic control since the soil parameters are variable and difficult to estimate. Therefore, this thesis investigates an approach to accurate insertion and positioning of geophones using a Cartesian impedance controller with a feed-forward force term. The feed-forward force component of the controller is estimated using the earth-moving equation and the Discrete Element Method. For the first time, both the geological aspects of the problem as well as the aspects of robotic control are considered. Based on this consideration, the control approach is enhanced by predicting the resistance force of the soil. Experiments with the humanoid robot Rollin’ Justin inserting a geophone into three different soil samples validate the chosen approach.

Item URL in elib:https://elib.dlr.de/91235/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Automated Insertion of Geophones using Light-Weight Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Date:15 September 2014
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Robotics, Rollin' Justin, ROBEX, Moon, Geophone
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Leidner, Daniel
Deposited On:03 Dec 2014 21:53
Last Modified:03 Dec 2014 21:53

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