Research/ PLANETARY ROBOTICS
A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Cranes
Javier Puig - Navarro, Dominic R. Bisio, John Pye, Yotam Granov, Joshua Moser, Jessica S. Friz, Walter Waltz, Julia Cline, B. Danette Allen
Manipulation & GraspingNTRS keyword: manipulator · Guidance, Dynamics & ControlOpenAlex topic: Dynamics and Control of Mechanical Systems · Design, Mechanisms & HardwareOpenAlex topic: Soft Robotics and Applications
OpenAlexDynamics and Control of Mechanical Systems · Robotic Mechanisms and Dynamics · Soft Robotics and ApplicationsNTRSMathematical and Computer Sciences (General)
The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators.The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars.The LSMS has nonlinear, coupled, and hybrid dynamics.The engineering decisions that led to these challenging dynamics make this structure light and efficient.This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations.This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.