Network latency analysis of a SpaceWire-based control system for space robotic arm: SpaceWire missions and applications, short paper

The Lightweight Advanced Robotic Arm Demonstrator (LARAD) is a state-of-the-art, two-meter long robotic arm for planetary surface exploration currently being developed by a UK consortium led by Airbus Defence and Space Limited under contract to the UK Space Agency (CREST-2 programme). LARAD has a modular design, which allows for experimentation with different electronics and control software. As ESA is drafting plans to address the design of sample return missions from key locations such as a Mars or Phobos, a number of technology developments are being undertaken across Europe to raise the maturity of key enabling systems, such as sample handling and robotic manipulators. One of these technologies is a high-TRL, SpaceWire-based control system for robotic arms currently being investigated by Airbus Defence and Space. This paper presents the results of a worst-case latency analysis of the fully SpaceWire-based control system currently being developed for LARAD. Some of the results are general enough to be extended to other robotics applications.