抄録
Extraction of rock samples using robotic arms is an essential technique for planetary exploration. Automated extraction processes are required for advanced research because of the inevitable communication delay time between the planet and the Earth. Therefore, in this study, a novel intelligent manipulator system is proposed. First the system detects the rocks to be sampled and assesses the possibility of extraction using a stereo camera. Then it extracts the desired rock with a 4-DOF manipulator.
