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NASA NTRS2005

CHAMP (Camera, Handlens, and Microscope Probe)

CHAMP (Camera, Handlens And Microscope Probe)is a novel field microscope capable of color imaging with continuously variable spatial resolution from infinity imaging down to diffraction-limited microscopy (3 micron/pixel). As a robotic arm-mounted imager, CHAMP supports stereo imaging with variable baselines, can continuously image targets at an increasing magnification during an arm approach, can provide precision rangefinding estimates to targets, and can accommodate microscopic imaging of rough surfaces through a image filtering process called z-stacking. CHAMP was originally developed through the Mars Instrument Development Program (MIDP) in support of robotic field investigations, but may also find application in new areas such as robotic in-orbit servicing and maintenance operations associated with spacecraft and human operations. We overview CHAMP'S instrument performance and basic design considerations below.

robotic field investigations↗

NASA NTRS2005

CHAMP - Camera, Handlens, and Microscope Probe

CHAMP (Camera, Handlens And Microscope Probe) is a novel field microscope capable of color imaging with continuously variable spatial resolution from infinity imaging down to diffraction-limited microscopy (3 micron/pixel). As an arm-mounted imager, CHAMP supports stereo-imaging with variable baselines, can continuously image targets at an increasing magnification during an arm approach, can provide precision range-finding estimates to targets, and can accommodate microscopic imaging of rough surfaces through a image filtering process called z-stacking. Currently designed with a filter wheel with 4 different filters, so that color and black and white images can be obtained over the entire Field-of-View, future designs will increase the number of filter positions to include 8 different filters. Finally, CHAMP incorporates controlled white and UV illumination so that images can be obtained regardless of sun position, and any potential fluorescent species can be identified so the most astrobiologically interesting samples can be identified.

Mungas, G. S.↗

NASA NTRS1998

Studies of Potential Mars Surveyor 1998 Landing Sites

The 1998 lander payload consists of a descent imager, the Mars Volatiles and Climate Surveyor (MVACS) instruments (lander stereo camera, arm-mounted close-up imager, meteorology package, thermal and evolved gas analyzer), and a LIDAR instrument. The mission focuses on assessment of near-surface water ice in the south polar region, and the volatile and climate history of Mars. In order to achieve these objectives, the landing site must allow access to polar layered deposits by the robotic arm, which may be able to dig as much as 0.5 m below the surface. Hence, the presence of recent aeolian debris at the landing site may adversely affect the ability of the MVACS instruments to gather the samples and acquire data needed to properly address the science objectives. The studies described here include mapping surface units in the landing region (73S - 77S, 140W - 230W) to infer the distribution of aeolian debris and to identify potential landing sites where mantling is minimal. Because the '98 lander will not be able to survive very low temperature conditions, this study also includes mapping of south polar seasonal frost retreat based on Viking Orbiter images. The results of this work, in conjunction with complementary studies by other investigators, will facilitate the selection of the Mars Surveyor 1998 landing site (and backup) by the summer of 1998.

Herkenhoff, K. E.↗

NASA NTRSDate not supplied

The first 300 sols of the SHERLOC investigation on the Mars 2020 rover

The Mars2020 mission is NASA’s latest flagship mission to Mars. The spacecraft launched in July 2020, and landed in Jezero crater on February 18, 2021 at the Octavia Butler Landing site. The rocks and sediments of Jezero crater have been argued to have preserved records of past, potentially habitable environments. The mission is characterizing the field site by analyzing chemistry, looking for organics and searching for potential biosignatures. The Scanning Habitable Environments with Ra-man and Luminescence for Organics and Chemicals (SHERLOC) is a robotic arm mounted instrument. SHERLOC combines imaging with UV resonance Raman and native deep UV fluorescence spectroscopy to identify potential biosignatures and understand the aqueous history of the Jezero Region. WATSON (Wide Angle Topographic Sensor for Operations and eNgineering), a refight of the Mars Hand Lens Imager (MAHLI) on the Curiosity rover is capable of color imaging over a wide range of resolutions (from infinity to 13.1 micron/pixel) and is used for both science and engineering. A second imager, the Autofocusing Con-textual Imager (ACI), produces gray scale images at 10.1 micron/pixel resolution at a 48 mm range.

A. E. Murphy↗

NASA NTRS2016

Opportunity Microscopic Imager Results from the Western Rim of Endeavour Crater

The Athena science payload on the Mars Exploration Rovers (MER Spirit and Opportunity) includes the Microscopic Imager (MI), a fixed focus close-up camera mounted on the instrument arm. The MI acquires images at a scale of 31 micrometers/pixel over a broad spectral range (400 to 700 nm) using only natural illumination of target surfaces. Radio signals from Spirit have not been received since March 2010, so attempts to communicate with that rover ceased in mid-2011. The Opportunity MI optics were contaminated by a global dust storm in 2007. That contamination continues to reduce the contrast of MI images, and is being monitored by occasionally imaging the sky.

Herkenhoff, K. E.↗

NASA NTRSDate not supplied

LIPA: Lunar Ice Perception Algorithm

The highest concentration of Lunar water-ice stores exists within the Permanently Shadowed Regions (PSRs) of the Lunar South Pole. As such, the ability to locate in situ water-ice stores in an accurate, systematic, and safe manner will prove vital for future Lunar activities which rely on hydrogen-based resources. Here we show how the strong absorptive properties of ice can be exploited (by coupling robotics, infrared imaging techniques, and machine learning) so that surface frost located in PSRs can be easily differentiated from the surrounding frozen regolith. Testbeds which simulate an icy lunar landscape were created and then imaged using a mid-wave infrared (MWIR) camera system mounted to a robotic arm (UR5e). Testbeds were imaged under two filter modes (1) wide band mode: whereby imagery captured filled a spectral range of 3.0 - 5.0 μm and (2) narrow band mode: whereby imagery captured were confined to a single central wavelength (CWL) of 3.15 ± 0.03 μm. A CWL of 3.15 μm was chosen due to the highly absorptive nature of ice at that specific wavelength. Images produced under both camera modes were processed in MATLAB. Narrow band images (NB) were subtracted from their wide band (WB) counterparts to produce differenced images (DI) which clearly demonstrated the spatial extent of ice (e.g., WB – NB = DI). Differenced images were used to train a Microsoft Azure model to discriminate between frozen regolith which did and did not contain ice. These works prove promising for future in situ resource utilization (ISRU) missions which employ robotics in combination with camera systems to advance science objectives (e.g., locate water-ice in frozen regolith) on the lunar surface.

Ane Slabic↗

NASA NTRS2016

Full Field X-Ray Fluorescence Imaging Using Micro Pore Optics for Planetary Surface Exploration

Many planetary surface processes leave evidence as small features in the sub-millimetre scale. Current planetary X-ray fluorescence spectrometers lack the spatial resolution to analyse such small features as they only provide global analyses of areas greater than 100 mm(exp 2). A micro-XRF spectrometer will be deployed on the NASA Mars 2020 rover to analyse spots as small as 120m. When using its line-scanning capacity combined to perpendicular scanning by the rover arm, elemental maps can be generated. We present a new instrument that provides full-field XRF imaging, alleviating the need for precise positioning and scanning mechanisms. The Mapping X-ray Fluorescence Spectrometer - "Map-X" - will allow elemental imaging with approximately 100μm spatial resolution and simultaneously provide elemental chemistry at the scale where many relict physical, chemical and biological features can be imaged in ancient rocks. The arm-mounted Map-X instrument is placed directly on the surface of an object and held in a fixed position during measurements. A 25x25 mm(exp 2) surface area is uniformly illuminated with X-rays or alpha-particles and gamma-rays. A novel Micro Pore Optic focusses a fraction of the emitted X-ray fluorescence onto a CCD operated at a few frames per second. On board processing allows measuring the energy and coordinates of each X-ray photon collected. Large sets of frames are reduced into 2d histograms used to compute higher level data products such as elemental maps and XRF spectra from selected regions of interest. XRF spectra are processed on the ground to further determine quantitative elemental compositions. The instrument development will be presented with an emphasis on the characterization and modelling of the X-ray focussing Micro Pore Optic. An outlook on possible alternative XRF imaging applications will be discussed.

micro-XRF spectrometer↗

NASA NTRS2004

First Results of the Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI). The MI is a fixed-focus camera mounted on an extendable arm, the Instrument Deployment Device (IDD). The MI acquires images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm). The MI uses the same electronics design as the other MER cameras but its optics yield a field of view of 31 x 31 mm across a 1024 x 1024 pixel CCD image. The MI acquires images using only solar or skylight illumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 69 mm), allowing concave surfaces to be imaged in good focus. Coarse focusing (approx. 2 mm precision) is achieved by moving the IDD away from a rock target after contact is sensed. The MI optics are protected from the Martian environment by a retractable dust cover. This cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500 - 700 nm, allowing crude color information to be obtained by acquiring images with the cover open and closed. The MI science objectives, instrument design and calibration, operation, and data processing were described by Herkenhoff et al. Initial results of the MI experiment on both MER rovers ('Spirit' and 'Opportunity') are described below.

Herkenhoff, K.↗

NASA NTRS2005

Overview of Athena Microscopic Imager Results

Herkenhoff, K.↗

NASA NTRS2013

Mars Science Laboratory Frame Manager for Centralized Frame Tree Database and Target Pointing

The FM (Frame Manager) flight software module is responsible for maintaining the frame tree database containing coordinate transforms between frames. The frame tree is a proper tree structure of directed links, consisting of surface and rover subtrees. Actual frame transforms are updated by their owner. FM updates site and saved frames for the surface tree. As the rover drives to a new area, a new site frame with an incremented site index can be created. Several clients including ARM and RSM (Remote Sensing Mast) update their related rover frames that they own. Through the onboard centralized FM frame tree database, client modules can query transforms between any two frames. Important applications include target image pointing for RSM-mounted cameras and frame-referenced arm moves. The use of frame tree eliminates cumbersome, error-prone calculations of coordinate entries for commands and thus simplifies flight operations significantly.

quaternion↗

NASA NTRS2023

Results from InSight Robotic Arm Activities

The InSight lander carried an Instrument Deployment System (IDS) that included an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, forearm-mounted Instrument Deployment Camera (IDC) requiring arm motion to image a target, and landermounted Instrument Context Camera (ICC), designed to image the workspace, and to place the instruments onto the surface. As originally proposed, the IDS included a previously built arm and flight spare black and white cameras and had no science objectives or requirements, or expectation to be used after instrument deployment (90 sols). During project development the detectors were upgraded to color, and it was recognized that the arm could be used to carry out a wide variety of activities that would enable both geology and physical properties investigations. During surface operations for two martian years, the IDA was used during major campaigns to image the surface around the lander, to deploy the instruments, to assist the mole in penetrating beneath the surface, to bury a portion of the seismometer tether, to clean dust from the solar arrays to increase power, and to conduct a surface geology investigation including soil mechanics and physical properties experiments. No other surface mission has engaged in such a sustained and varied campaign of arm and scoop activities directed at such a diverse suite of objectives. Images close to the surface and continuous meteorology measurements provided important constraints on the threshold friction wind speed needed to initiate aeolian saltation and surface creep. The IDA was used extensively for almost 22 months to assist the mole in penetrating into the subsurface. Soil was scraped into piles and dumped onto the seismometer tether six times in an attempt to bury the tether and ∼ 30% was entrained in the wind and dispersed downwind 1-2 m, darkening the surface. Seven solar array cleaning experiments were conducted by dumping scoops of soil from 35 cm above the lander deck during periods of high wind that dispersed the sand onto the panels that kicked dust off of the panels into suspension in the atmosphere, thereby increasing the power by ∼15% during this period. Final IDA activities included an indentation experiment that used the IDA scoop to push on the ground to measure the plastic deformation of the soil that complemented soil mechanics measurements from scoop interactions with the surface, and two experiments in which SEIS measured the tilt from the arm pressing on the ground to derive near surface elastic properties.

Mars↗

NASA NTRS2003

The Athena Microscopic Imager Investigation

The Athena science payload on the Mars Exploration Rovers (MER) includes the Microscopic Imager (MI) [1]. The MI is a fixed-focus camera mounted on the end of an extendable instrument arm, the Instrument Deployment Device (IDD; see Figure 1).The MI was designed to acquire images at a spatial resolution of 30 microns/pixel over a broad spectral range (400 - 700 nm; see Table 1). Technically, the microscopic imager is not a microscope: it has a fixed magnification of 0.4 and is intended to produce images that simulate a geologist s view through a common hand lens. In photographers parlance, the system makes use of a macro lens. The MI uses the same electronics design as the other MER cameras [2, 3] but has optics that yield a field of view of 31 31 mm across a 1024 1024 pixel CCD image (Figure 2). The MI acquires images using only solar or skylightillumination of the target surface. A contact sensor is used to place the MI slightly closer to the target surface than its best focus distance (about 66 mm), allowing concave surfaces to be imaged in good focus. Because the MI has a relatively small depth of field (3 mm), a single MI image of a rough surface will contain both focused and unfocused areas. Coarse focusing will be achieved by moving the IDD away from a rock target after the contact sensor is activated. Multiple images taken at various distances will be acquired to ensure good focus on all parts of rough surfaces. By combining a set of images acquired in this way, a completely focused image can be assembled. Stereoscopic observations can be obtained by moving the MI laterally relative to its boresight. Estimates of the position and orientation of the MI for each acquired image will be stored in the rover computer and returned to Earth with the image data. The MI optics will be protected from the Martian environment by a retractable dust cover. The dust cover includes a Kapton window that is tinted orange to restrict the spectral bandpass to 500-700 nm, allowing color information to be obtained by taking images with the dust cover open and closed. The MI will image the same materials measured by other Athena instruments (including surfaces prepared by the Rock Abrasion Tool), as well as rock and soil targets of opportunity. Subsets of the full image array can be selected and/or pixels can be binned to reduce data volume. Image compression will be used to maximize the information contained in the data returned to Earth. The resulting MI data will place other MER instrument data in context and aid in petrologic and geologic interpretations of rocks and soils on Mars.

K E Herkenhoff↗

NASA NTRS1999

The Mars Surveyor '01 Rover and Robotic Arm

The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments. The Marie Curie Rover, the twin sister to Sojourner Truth, is expected to explore the surface of Mars in early 2002. Scientific investigations to determine the elemental composition of surface rocks and soil using the Alpha Proton X-Ray Spectrometer (APXS) will be conducted along with several technology experiments including the Mars Experiment on Electrostatic Charging (MEEC) and the Wheel Abrasion Experiment (WAE). The Rover will follow uplinked operational sequences each day, but will be capable of autonomous reactions to the unpredictable features of the Martian environment. The Mars Surveyor 2001 Robotic Arm will perform rover deployment, and support various positioning, digging, and sample acquiring functions for MECA (Mars Environmental Compatibility Assessment) and Mossbauer Spectrometer experiments. The Robotic Arm will also collect its own sensor data for engineering data analysis. The Robotic Arm Camera (RAC) mounted on the forearm of the Robotic Arm will capture various images with a wide range of focal length adjustment during scientific experiments and rover deployment

Bonitz, Robert G.↗

NASA NTRSDate not supplied

An Overview of SHERLOC Raman and Fluorescence Spectroscopy Results Obtained During Perseverance’s Green Zone Campaign at Jezero Crater, Mars

The Perseverance rover landed in Jezero crater, Mars, in February 2021. The field site was chosen because orbiter data provided evidence that the crater hosted an ancient (>2.7 Ga) fluvio-lacustrine environment. The Octavia E. Butler landing site is located ~1.9 km east of the erosional remnant of the Jezero river delta. Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) is an arm-mounted instrument that combines fluorescence and Raman spectroscopy with microscopic imaging to analyze geological materials in order to better understand the history of the environments recorded in the rocks within Jezero crater and to search for potential biosignatures. SHERLOC has two microscopic cameras, the Autofocus and Context Imager (ACI) and the Wide-Angle Topographic Sensor for Operations and eNgineering, (WATSON). These subsystems obtain high spatial resolution (10.1–100 µm/pixel) images to identify grain-scale structure and texture. SHERLOC spectroscopy enables high-sensitivity detection, characterization, and spatially-resolved correlation of trace organic materials. SHERLOC’s 248.6 nm deep UV laser generates a 100 µm-diameter spot. Photons generated by Raman scattering and fluorescence emission are collected and the spectra are downlinked to Earth for analysis. Knowledge of where the laser is pointed allows for mineral and compositional maps to be generated and overlain in ACI and WATSON images. Early spectroscopy observations focused on natural rock surfaces at targets named Nataani (sol 83), Bi_la_sana (sol 98) and Foux (sol 141). These surfaces included patches of aeolian dust that had settled upon the rocks. Perseverance’s abrasion tool is expected to become available in August 2021; it will grind to depths of 14 mm to remove dust and penetrate coatings and weathering rinds. This presentation will summarize major results from analysis of the rocks examined by SHERLOC during Perseverance’s first science and sample coring campaign (Green Zone Campaign).

Luther W Beegle↗

NASA NTRS1999

The MSP 2001 Mars Environmental Compatibility Assessment (MECA)

The Mars Environmental Compatibility Assessment (MECA) will evaluate the Martian environment for soil and dust-related hazards to human exploration as part of the Mars Surveyor Program 2001 Lander. Sponsored by the Human Exploration and Development of Space (HEDS) enterprise, MECA's goal is to evaluate potential geochemical and environmental hazards that may confront future Martian explorers, and to guide HEDS scientists in the development of high fidelity Mars soil simulants. The integrated MECA payload contains a wet-chemistry laboratory, a microscopy station, an electrometer to characterize the electrostatics of the soil and its environment, and arrays of material patches to study the abrasive and adhesive properties of soil grains. The instrument will acquire soil samples with a robotic arm equipped with a camera. MECA will examine surface and subsurface soil and dust in order to characterize particle size, shape, hardness, and also physical characteristics that may provide clues to mineralogy. MECA will characterize soil/water mixtures with respect to pH, redox potential, total dissolved ions, and trace toxins. MECA will determine the nature of electrostatic charging associated with excavation of soil, and the influence of ionizing radiation on material properties. It will also observe natural dust accumulation on engineering materials. To accomplish these objectives, MECA is allocated a mass of 10 kg within an enclosure of 35 x 25 x 15 cm. The Wet Chemistry Laboratory (WCL) consists of four identical cells that will accept samples from surface and subsurface regions accessible to the Lander's robotic arm, mix them with water, and perform extensive analysis of the solution. Ion-selective electrodes and related sensors will evaluate total dissolved solids, redox potential, pH, and the concentration of many soluble ions and gases in wet Martian soil. These electrodes can detect potentially dangerous heavy-metal ions, emitted pathogenic gases, and the soil's corrosive potential. Experiments will include cyclic voltammetry and anodic stripping voltammetry. Complementary to the Viking experiments, the chemical laboratory will characterize the water-soil solution rather than emitted gases. Nonetheless, through analysis of dissolved gases it will be able to replicate many of the Viking observations related to oxidants. MECA's microscopy station combines optical and atomic-force microscopy (AFM) in an actively focused, controlled illumination environment to image particles from millimeters to nanometers in size. Careful selection of substrates allows controlled experiments in adhesion, abrasion, hardness, aggregation, magnetic and other properties. Special tools allow primitive manipulation (brushing and scraping) of samples. Soil particle properties including size, shape, color, hardness, adhesive potential (electrostatic and magnetic), will be determined using an array of sample receptacles and collection substrates. The simple, rugged atomic-force microscope will image in the submicron size range and has the capability of performing a particle-by-particle analysis of the dust and soil. On Earth, the earliest forms of life are preserved as microfossils. The atomic-force microscope will have the required resolution to image down to the scale of terrestrial microfossils and beyond. Mounted on the end of the robot arm, MECA's electrometer actually consists of four types of sensors: an electric field meter, several triboelectricity monitors, an ion gauge, and a thermometer. Tempered only by ultraviolet-light-induced ions and a low-voltage breakdown threshold, the dry, cold, dusty martian environment presents an imposing electrostatic hazard to both robots and humans. The field meter will measure the ambient field on nearby objects while the triboelectric sensors, using identical circuitry, will measure the charge accumulated on test substances as they are dragged through the soil by the arm. The ion chamber, open to the environment, will sense both charged dust and free ions in the air. Over and above the potential threat to electronics, the electrostatic environment holds one of the keys to transport of dust and, consequently, Martian meteorology. Viewed with the robot arm camera, the abrasion and adhesion plates are strategically placed to allow direct observation of the interaction between materials and soils on a macroscopic scale. Materials of graded hardness are placed directly under the robot arm scoop to sense wear and soil hardness. A second array, placed on the lander deck, is deployed after the dust plume of landing has settled. It can be manipulated in a primitive fashion by the arm, first having dirt deposited on it from the scoop and subsequently shaken clean. A third array will passively collect dust from the atmosphere. In addition to objectives related to human exploration, the MECA data set will be rich in information relevant to basic geology, paleoclimate, and exobiology issues. To understand both contemporaneous and ancient processes on Mars, the mineralogy, petrology, and reactivity of Martian surface materials should be constrained. The MECA experiment will shed light on these quantities through its combination of chemistry and microscopy. MECA will be capable of measuring the composition of ancient surface water environments, observing microscopic evidence of geological (and biological?) processes, inferring soil and dust transport, comminution and weathering mechanisms, and characterizing soil horizons that might be encountered during excavation.

Hecht, M. H.↗

NASA NTRS2022

Perseverance Rover’s Robotic Arm and Turret Mounted Instruments’ Surface Commissioning

The Robotic Arm (RA) on the Perseverance rover is an integral component of the Sampling and Caching System necessary for completing the science goals of the Mars 2020 mission. While the Perseverance rover was based on the Curiosity rover which landed in 2012, the Robotic Arm was redesigned to carry a much larger turret with a new suite of payloads. Shortly after Perseverance landed in Jezero Crater, a series of checkouts was completed with the RA during the first 100 sols of the mission in order to ensure proper functionality of the RA and the instruments mounted on the turret. This period of time in the mission was called Surface Operations Transition (SOX). The objective of SOX was to systematically execute checkout activities for all the basic functionality so that the RA and instruments, as well as other rover components, could be released for scientific exploration.RA activities during SOX can be divided into a few different categories: Mechanism Checkouts, Rover Visual Inspections, Performance Characterization, and Instrument Functional Checkouts. Many of these checkouts built off of each other such that each subsequent activity would verify incrementally complex functionality. Many of the defined activities were executed several times throughout the development of the rover and served as a check that the RA’s performance is consistent with testing on Earth. Other activities were developed uniquely for SOX to respond to challenges discovered during development. They were designed to be verifiable without the help of ground support equipment or previous executions on the flight hardware to compare against.This paper discusses the formulation and conception of the various RA SOX checkout activities, verification and testing required to certify them for flight, execution of the activities on Mars, issues encountered, and finally results and findings as the mission transitioned to nominal science operations. We will be presenting the results and analysis using downlinked imaging and data from the flight vehicle to show how we verified the performance of the Robotic Arm and the turret mounted instruments in order to transition to science operations with a clean bill of health.

Edgett, Kenneth↗

NASA NTRS2011

Range 7 Scanner Integration with PaR Robot Scanning System

An interface bracket and coordinate transformation matrices were designed to allow the Range 7 scanner to be mounted on the PaR Robot detector arm for scanning the heat shield or other object placed in the test cell. A process was designed for using Rapid Form XOR to stitch data from multiple scans together to provide an accurate 3D model of the object scanned. An accurate model was required for the design and verification of an existing heat shield. The large physical size and complex shape of the heat shield does not allow for direct measurement of certain features in relation to other features. Any imaging devices capable of imaging the entire heat shield in its entirety suffers a reduced resolution and cannot image sections that are blocked from view. Prior methods involved tools such as commercial measurement arms, taking images with cameras, then performing manual measurements. These prior methods were tedious and could not provide a 3D model of the object being scanned, and were typically limited to a few tens of measurement points at prominent locations. Integration of the scanner with the robot allows for large complex objects to be scanned at high resolution, and for 3D Computer Aided Design (CAD) models to be generated for verification of items to the original design, and to generate models of previously undocumented items. The main components are the mounting bracket for the scanner to the robot and the coordinate transformation matrices used for stitching the scanner data into a 3D model. The steps involve mounting the interface bracket to the robot's detector arm, mounting the scanner to the bracket, and then scanning sections of the object and recording the location of the tool tip (in this case the center of the scanner's focal point). A novel feature is the ability to stitch images together by coordinates instead of requiring each scan data set to have overlapping identifiable features. This setup allows models of complex objects to be developed even if the object is large and featureless, or has sections that don't have visibility to other parts of the object for use as a reference. In addition, millions of points can be used for creation of an accurate model [i.e. within 0.03 in. (=0.8 mm) over a span of 250 in. (=635 mm)].

Schuler, Jason↗

NASA NTRS2019

Implementation and Testing of Inverse Kinematics on Robotic Arm

COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.

Franz, Carter↗