Manipulation Controller

Real-Time Manipulation Controller with Force Compliance

The manipulation controller is a 2 kg radiation-hardened single-board computer that executes real-time kinematic, dynamic, and force-compliant control for a seven-degree-of-freedom robotic arm. Drawing 10 W and running a 1000 Hz control loop, the unit manages inverse kinematics, impedance control, RRT* trajectory planning, and force-torque collision detection. Operating without atmospheric or magnetospheric radiation shielding over a 20-year operational life requires radiation-hardened hardware capable of an 80,000-hour mean time between failures. The controller coordinates directly with path-navigation subsystems and processes authenticated delay-tolerant network updates to sustain continuous autonomous manipulation during long-duration lunar surface missions.

Real-time controller running kinematic + dynamic control with force compliance, motion planning, and safety supervision for the manipulator.