Fig. 1. Sketch of Chang’E 5 sampling image area

Fig. 2. Sketch of surface sampling process

Fig. 3. Sketch of view coverage of monitoring camera

Fig. 4. Sketch of plane coverage of monitoring cameras

Fig. 5. Terrain reconstruct flow of visible area

Fig. 6. Safe constraint curves of joint 1 and 2

Fig. 7. Sketch of reachable area of sampling manipulator

Fig. 8. Sketch of undulant terrain for sampling

Fig. 9. Selection flow of digital adoptable points

Fig. 10. Physical terrain reconstruct of visible surface sampling area

Fig. 11. Monitoring camera images of Chang’E 5

Fig. 12. Digital terrain reconstruct of monitoring camera

Fig. 13. Safe point cloud and alternative sampling points distribution