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Phoenix: Robotic Arm (RA)

The Phoenix Robotic Arm was used to deploy the Robotic Arm Camera (RAC) and the Thermal and Electrical Conductivity Probe (TECP), along with a scoop for digging and collecting soil. Engineering data from the RA itself, including motor currents and joint positions, was used to determine the force exerted by the RA, which was helpful for safety monitoring and for soil property analysis.

RA raw data measurements are not archived in the PDS due to ITAR restrictions. The derived data are available here. In addition to data from the RA on Phoenix, data from the RA on the Payload Interoperability Testbed at JPL are included for comparison.

RA Derived Data

Root directory AAREADME.TXT is an introduction to the RA archive
CATALOG directory DATASET.CAT describes the RA data set
INST.CAT describes the Robotic Arm
INSTHOST.CAT describes the Phoenix Lander
MISSION.CAT describes the Phoenix mission
PERSON.CAT lists cognizant personnel for this archive
REF.CAT lists references for additional information
DATA directory The DATA directory contains one or more data files per sol, in the form of a comma-separated-value text file that may be loaded into Excel or other spreadsheet software. Each data file is described by a PDS label in a separate file.
INDEX directory INDEX.TAB lists information about each data product in the archive.
INDEX.LBL is a PDS label for INDEX.TAB.
ACTIVITY.CSV lists the commanded RA activities associated with each product.
ACTIVITY.LBL is a PDS label for ACTIVITY.CSV.
ACTIVITY_TABLE_DESC.TXT describes each RA command in detail.
TESTDATA directory The TESTDATA directory contains data from several experiments with the JPL testbed robotic arm.

Geosciences Node Tools

Phoenix Analyst's Notebook - This RA data set is available through the Analyst's Notebook under Resources -> Additional Data Sets.

 

 

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Curator: Susan Slavney
NASA Official: Raymond E. Arvidson
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